Re: Learning to Walk
Best aikido answer I have heard/felt/seen - release the front knee, squeeze the back knee under the pelvis. This should place tori in an pillar posture (shizentai) feet comfortably spaced and relatively even. The rear foot continues by releasing the knee and pushing with the [now] rear foot. Think tori fune but changing feet forward. My hips turn very little; my hips bones turn within my pelvis, which stays pretty still. Bottom line, no John Wayne.
Best description non-aikido - dragon stepping.
Dan Messisco Sensei does a great walking segment in his seminars.