Here's a nice little walk cycle from "Solid Ivory". Woody is at a brisk pace of 7 frames per each step.That's the same beat as the "Popeye The Sailor Man" song.
Here you can step through the walk to see how it works:
Here's another - also at a 7x beat
Walks used to be animated with fun, character and entertainment in mind. Nowadays (if I'm not mistaken), most walks are just to get a character from here to there.