You gotta animate that too.
In your case you dont just need a start and end key, you need keys in between controling the hight of the leg as it steps forward.
So in other words, have the start key, and the end key at the end of it's step (so it would just slide along the floor, as you have) then go back and lift the leg up in the middle frames so it so it glides up and forward, slows in hight and comes back down again.
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