When animating my walk cycle in Maya I encountered the problem where my characters feet would slide about and sink into the floor when Maya would generate the 'in-betweens' for my keyframes. The way I could fix this is through the IK and FK switch which enables me to plant one of the feet into a particular place and then the rest of the character would move around it. However by doing this I had to then delete any keyframes made on that leg as it would interfere with IK switch until the next keyframe where I would turn it off and switch to the next foot.
Now that I've done this the walk is much more natural and appears more weighted than before. I also want to add the FK IK switch to the characters hands when he leans against the door to listen.