Well yes, most walk/run cycles are tweened and procedural! Purely procedural, physics/behaviour based, isn't out there in any form yet. The only implementation I can think of is probably SW : Force Unleashed, although the supposed procedural animations there looked quite scripted from what I remember, of the Storm Troopers hanging on.Shifty that would make every game released for a long time procedural.
Still, the advances with tweened anims that Uncharted has come up with are impressive progress that have created a more natural look when they flow successfully.