Or you can do it with the armature object itself, using keyframes and making it jump from position A to B when it needs to begin its second cycle, and then from position B to C, and so on. There are 2 ways to do it, either in the animation itself, in Pose mode, you need to duplicate the cycle and move the copy a bit further on the right axis, and so on. With this kind of animation, if you want the character to move in your 3D scene you need to duplicate the bones keyframes and make the second cycle begin at the end of the first one and so on. The dynamic one makes the character go forwards in Pose mode:.There are 2 sorts of walk cycles, a dynamic one and a static one (well, these are my own words):
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