Animation walk cycle

I understand the order of the animation walk cycle but struggle to get it right based on the movement of my characters, I have cut out a lot of stages form previous walk cycles I have done resulting in jumped and inaccurate movement when I have produced characters, I think this is because I only have a general understanding of movements but no understanding of the stages and how they work.

I want to improve this because my understanding of movement is limited and I want to improve this, but it can only done through practice and I plan to develop my understanding through research into the walk cycle using the animation books I have at home and studying movement through practice with digital or traditional animation using Photoshop, After Effects and Illustration.