I have spent a few years mostly walking around either in Vibrams or in canvas shoes I bought for $10/pair in China, and frequently walk like this.

The guy in the video is exaggerating his motions a lot though (could explain part of why he finds it takes so much work for his calves). In particular, my steps end up being small, with my feet staying under my center of mass, my stepping leg is bent, my steps are almost directly in line, and I find that my torso moves very smoothly without bouncing up and down or stopping and starting.