Hi Restif, 

I haven't had a chance to piece together a demo yet. 

You have a good start in the animation. One thing I see right away is issues with center of gravity. Balance is maintained by keeping the center of gravity over the foot that is on the ground. Therefore, as the leg gets higher, the torso will also ascend upward. Likewise when the leg extends outward, the torso will extend in the opposite direction. 

These are relationships we see everyday and are so common we don't even pay attention to them – unless it's not happening correctly. 

Mark