He's walking, kind of sort of?

The elbow joints look a bit off, so I'll try to see what's up with that. However, I think the rest of his body looks about right? I'm using this animation (frame 1) as the source.

Basically, rotations are confusing. With much help from a certain someone, I revised the draw method so that it applies the rotation based on the axis in the ASF file, then applies the rotation specified in the AMC file, and then undos the axis rotation. The result is the above screenshot, and it looks a lot closer to the final product than anything I've gotten so far, so I'm keeping it for now.