So this is a horse walk cycle for a videogame that looks incredibly stiff and mechanical. I know the whole body should engage in the action, but I'd prefer to get the legs right first. Any help would be appreciated, thanks in advance.
As a whole we try to avoid link-based answers here due to the ever-present risks of link-rot, and to keep more actual content here where it can be indexed and thus be available for future searchers - that said, the You Tube video to which I've linked below is so specifically a nice overall tutorial aimed at hand-drawn animation of a typical horse walk cycle, and is extremely well done, thorough, and easily accessible - that is, the learning curve isn't too steep and it makes sense for beginning animators - that it's an ideal answer for your question.
And here are some representative chunks from that video to show why I think it's ideal for your question:
Also consider this classic set of source images, as suggested by others:
NOTE: I think it's not possible to just consider the feet and end up with a natural flowing motion - you need a fully engaged spine to make this read as horse-like motion.
Hope this helps.
- Search for real-life examples and take it from there. Learn how things should move first. Look at how animals behave. In your case, search for Horse Gait.
- Look at the work of others. How did other animators solve the same problem? There are so many examples.
- It doesn't hurt to also learn the 12 principles of animation introduced by Disney's works from the 30's. It's very basic and it helps a lot with creating more realistic animations.