Once upon a time in London...
At the beginning of my career I apprenticed with some of the greatest master animators ever _ i.e. Ken Harris (Warner Brothers - 'Bugs Bunny' & 'Roadrunner'), Art Babbit (The 'Tenth Old Man' of Disney animation in the golden era) and Richard Williams (3 times Oscar winner).
This is because the principles involved in a good generic walk pretty much apply to everything else in animation.
The 'golden triangle' of mentors I apprenticed with at the beginning of my career - left lower, Richard Williams; center, Ken Harris; right/lower Art Babbit.
We start with the classic, traditional, hand-drawn approach, then we follow that up with a definitive vector animation approach, possible through the ToonBoom Studio software technology.
That said, if you do struggle with drawing it is still perfectly possible to pull off a good generic walking action using the ToonBoom Studio approach alone.