Here is walk_designer script.

Take a look inside the file first because you will have to "tell" the script your walk_cycle pattern first.

How it works:

1. open poser,
2. make a path
3. save the path (can be saved to props library)
4. open your walk cycle
5. select figure
6. set plenty frames
7. run "cycle_animation" script
8. run "walk_designer" script
9. you'll be asked to select a path so find the path you saved before
   wait...wait...wait...
   done
   if the walk looks strange recheck your walk cycle pattern inside walk_designer script

As I said that script was only for my usage so it can be frustrating at the beginning.
But its possible to make with it endless combination: walk - up the stairs - walk - down the hil - walk and so on along one path and the feet firmly on the ground.

Figure is not turning its head when taking turns - I removed this.

You can do whatever you want with those scripts (change them as you like).