Watch the following video: http://www.youtube.com/watch?v=A8hhgbpc3uY&feature=related
Here is another great tutorial that outlines the walk cycle for frame by frame animation.
Task: Draw a sausage character and create a walk cycle using the following image as your guide
(you must go through the cycle twice to get a body part to return to its starting position)
https://encrypted-tbn0.google.com/images?q=tbn:ANd9GcTbZfq3EiGfYm2uvtctNBbYgyxjOTrse7kvDpIXpfkU_1t1Kae2gg
- Remember to have symbols as the body parts
Task 2: Once you have a character walking, try to create another to do one of the following
http://foundationsofanimation.files.wordpress.com/2009/02/walk1.jpg
Create your own character or try using Bender in the attached file below.