I've done This one and this one in the past, at least in the ninja I took concern for the bones and joints so yes, I do think of that so please accept that the legs were intentional!

Even if you claim it's intentional, it just looks wrong and unconvincing. I'd buy that only if the entire premise for the character involved his jelly legs, which I doubt it is the case here.

Yeah, the legs look very, very bad. You need to consider the bones and joints. Draw a base skeleton and animate it first, then add everything over it.

Check out this walking animation tutorial. Do it like that first so you understand how it all works, then try to adapt that movement and method so it looks the way you want. I'm assuming you were trying to give the soldier that particular monotonic tactical walk typical of soldiers. Look for some gameplay footage of games with military soldiers involved and study their movements. It'll help.

 Yes, actually he got jelly legs, that's part of the thing. Wanted to create something unique with his walking style so decided to make his legs "jellyer"!

What the hell are the legs doing. He's got jelly legs or something. That looks really painful.