Just so I know what people are talking about, what's a "traditional" walk?
Anyone having a go at that is stepping on dangerous ground, here.
I'd say that some of its characteristics are that the stepping action is commenced by a movement of the torso, over the standing leg, the knee of which has been flexed to release the flat foot from the floor, leaving just the ball of foot in light contact. Torso movement precedes the movement of the leg, because the leader needs to know/feel that the follower has commenced her movement, creating a space into which to step. At about the point of imbalance (for me, just before, not after it has been reached), the foot is picked up, slightly, and without the 'swing' action used in so many other dances, the foot is placed forward*, toe or heel first (depending on the chosen style), followed by immediate and full transfer of weight to a flat foot, Following weight transfer, the trailing (now free) leg is relaxed, and largely under the influence of gravity, it comes under its own hip, bringing the whole body into momentary alignment and balance, before the process starts again with the other leg.
*The torso continues to move forward too, with the aim of keeping the moving foot 'under' the body as far as possible. Early in this movement, the point of balance is passed, and the tendency of the body to fall, under gravity, is balanced by pushing (largely upwards) from the standing foot, so as not to fall, allowing the placement of the forward foot, it having skimmed the floor.