Here are some ways for characters to walk, culled from various places:

walk:

amble, bumble, careen, clomp, clump, crawl, creep, dawdle, dodder, drag, flounce, hike, hoof, inch, lag, leg, limp, linger, loiter, lollop, lumber, lurch, march, mince, mosey, move, pace, pad, parade, plod, poke, pound, prance, promenade, prowl, pussyfoot, ramble, reel, sashay, saunter, scuffle, shamble, shlep, scuttle, shuffle, skulk, slink, slog, slouch, sneak, stagger, stalk, stamp, steal, step, stomp, stride, stroll, strut, stumble, stump, swagger, tack, tap, thread, tiptoe, toddle, track, traipse, traverse, tread, trot, trudge, waddle, wade

Any others?