Hi
Then your problem is that the curve of the frames for the hips "Z" or forward movement
is likely spline interpolated (needs to be linear)

and is too steep or too shallow

look at the attached Video

DORK WALKS

There are only SEVEN keyframes
the figure was walked in place with posers
rather Lame walk designer.
however his forward motion was created
by changing the value of the last few frames of the Z translation
raising or lowering the linear  curve height until his footfalls matched his forward motion

@Miss Nancy it is not a matter of Like or dislike
you are free to sit and  keyframe for every frame  if that pleases you.
however I take exception to your frequent assertions that this is the only way to get your animation to "look right"
this OPINION is a false assertion and misleads aspiring character animators in this forum.

Cheers

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