Character Walking, without _rotation

I am trying to make my character look as he is walking around on the stage. I can make him, but what do I to make move his arms and legs? Also, I want the character walking animation when one of the keys is pressed, and stop walking when that same key is released.

I have looked and looked with google and I can’t seem to find the answer (can someone give me a link). And most importantly, I DO NOT want the character to rotate.

Can someone help me with this? Thanks

(Again, a link would help).