remember that a walk is usualy the least amount of effort for locomotion. twisting the hips in opposite direction to shoulders incoporates the back muscles (spreading the muscular energy required to walk over more muscles = less work)

rotating the hips and shoulders in the same direction issolates the back from having to do any work.

imagine rotating hips opposite to shoulders is like coiling a spring down the spine, it can hold a lotof energy waiting to uncoil, this is often the way you can anticipate for a character to explode in2 a new motion (ie walk into a jump, run, roundhouse kick)

when ever you focus on a particular cycle (walk, run, whatever) imagine how can your character can transition into another movement, if your current cycle canot easily transiton into other movements then it probably is not most efficient/natural movement

nature is very efficient/lazy (least work for most movement) because energy is derived from food/resources and they take time and energy to gather.

if the energy expended catching the food is more than the food gives then its not worth it.

blah blah blah im on such a strange planet 2day, cant explain anything well

anyway the counter hip shoulder twist is just an oppinion of mine, ive seen it broken manytimes, just wanted to draw your attention to other ways of lookin at what you animated.