As bigger sprites don't have just one pixel to move for legs and arms, I ran into a few troubles.

So I made this study, to develop a technique to help me with the issues.
What I do? I have three points of interests, be it shoulder, elboe and wrist orhip, knee and foot. Though it can be any other amount of points too. The important part here is to outline the movement, to have it look smooth, then build the rest around.