One thing I think works is to buy Poser. Poser 5 is about $10-$20 at Contentparadise.com (bad website, but...) and use the walk designer. Export out a movie, or a .bvh file, which you can use to animate a rig in a number of 3D programs.
Walkcycle done. You don't have jumping, so for that you might need to search for a bvh motion file, and view it with a bvh viewer.
Walkcycle done. You don't have jumping, so for that you might need to search for a bvh motion file, and view it with a bvh viewer.