Can't "Create Cycle" with bone layer & Non-stationary walk cycles

“Create Cycle” is grayed out for a bone layer. How do we do this?

I’m trying to create a walk cycle using bones and I didn’t make it stationary so there is no slipping. I need to figure out how to loop the bone layers (arms, legs) and move them (perhaps with a peg) so that I’m not just copy/pasting all over the place. Tips?

I find it a bit troubling that nobody knows how to do this. Am I going about this with the wrong philosophy? How do others use the bone tool?