ambled — to go at a slow, easy pace; stroll; saunter: He ambled around the town.
footed — having a foot or feet (often used in combination): a four-footed animal.
paced — having a specified or indicated pace (usually used in combination): fast-paced.
stepped — a movement made by lifting the foot and setting it down again in a new position, accompanied by a shifting of the weight of the body in the direction of the new position, as in walking, running, or dancing.
