From what I have heard and read and tried, Poser people need to have their joints bent before they can walk. Something in the way the walk designer works. Also why the figures have bent knees and arms by default. So, if you wnat them to walk, don't zero all the joints by hand or with the joint editor before you start. Apply a default pose or bring in a new figure and it should work. No promises, but that's what the book says.