I'm looking for a walk cycle tutorial

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As title says. So I'm just trying to make a natural-looking walk animation. I think I got the leg and hips movement nailed, but the right way to move the torso and arms still evades me.

I've searched the web for days, watched almost a hundred of youtube samples, and found nothing relevant so far. Only bad quality clips, missing links, 404 threads on forums, etc.

Can anyone help me out here?
 
It'd be really quite simple to explain it.

The hip gyrates as steps are taken, and the torso swings back and forth. The more swing in the upper body, the more the arms are flailed. The torso also gyrates, to a certain extent, with the forward swing of an arm. You can portray plenty of personality into a character by his walk. An aloof character swings about quite a bit, while a more reserved character is rigid.
 
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