Vebleh!

I take it back! I found the site:
http://www.idleworm.com/how/anm/02w/walk2.shtml

And while we're at it, this one that I forgot about as well:
http://www.mcmxi.com/~jpr/teaching/gph213/walkcycle/walk.html

And this one that's all about stuff with no limbs moving, which is pretty neat:
http://www.archive.org/details/sims_evolved_virtual_creatures_1994