Here is another method. Create your walk cycle, let the feet (or shoes) go below the ground. Now load a square prop, make it invisible (Object > Properties > Visible). In frame #1 parent the figure to the square (Figure > Set Figure Parent). Now in frame #1 yTran the square a little, the figure should rise with it. Step through the animation and determin wether the square needs to be higher or lower, but always go back to frame #1 before adjusting yTran on the square.