Honest opinion: There is a certain stiffness. A lot more of the body moves besides just the arms and legs.
Found this image on google after like a 30 second search:
Notice that as she steps down her torso and leg seem to shift under her weight as she goes to lift her other leg. Her hips will tilt as her leg bears the her body weight, this is easier to see in the frontview but you can notice it in the side view as well. You can also see that her hips slightly push forward as she steps forward while her upper body somewhat seems to sway slightly backwards, this is because the her spine is a flexible structure and even with a good posture will bend and twist as she moves. Additional her entire body isn't at a constant height due to the angles of her legs as she walks. She is at her tallest when her leg is straight under her but she drops by a bit due to the angle of her legs extended in front and behind her as she walks.
Subtle elements like this add dynamism to an animation if you're able to capture it. I would suggest practicing gestures to be able to capture the feeling of a pose quickly and effectively which can help with animation as in some cases your subject may be moving too fast to be able to capture the body's anatomy and proportions properly. In some cases you'll even have to exaggerate the body's proportions, even on more realistic subjects.
Don't be afraid to use some reference when drawing, As it can help you make your character look more believable, even if it's cartoony.