I decided to get back to the previously animated walk cycle and tweak it a lot. I found that the in the initial walk cycle the body was too firm and provoking the character to act in a less natural way. This time I corrected some legs movements, and arms, as well as adding chest movement and neck. and add little motion on the hands and the feet.
I can see it is looking much better, though to time restrictions and animation knowledge I think this will be the last version, however I could be tweaking endlessly until it looked better.