Help making running animation loop smoother?

So, I'm making a custom running animation for the character. When the character runs, the script loops through a bunch of Vector3s. The problem is that the animation sometimes starts making the character's arms shake and that it isn't very smooth when restarting the loop. Could someone make my animation smoother?

Running Event (Assume everything is defined, database is a ModuleScript):

humanoid.Running:connect(function(speed)
	if speed > 0 then
		running = true
		while running do
			for frame = 1, #database.Frames.Running do
				for i = 0,1,0.1 do
					for joint, start in pairs(database.Frames.Running[frame]) do
						wait()
						local lerp = (frame == #database.Frames.Running and Vector3.new(0,0,0) or start):Lerp(database.Frames.Running[frame+1] and database.Frames.Running[frame+1][joint] or Vector3.new(0,0,0),i)
						character.Torso[joint].C0 = database.Humanoid[joint].C0*CFrame.new(lerp.X,lerp.Y,lerp.Z)
					end
				end
			end
		end
	else
		running = false
		for i, joint in pairs(character.Torso:GetChildren()) do
			if joint:IsA("Motor6D") then
				character.Torso[joint.Name].C0 = database.Humanoid[joint.Name].C0
			end
		end
	end
end)

database ModuleScript:

database = {}


database.Frames = {}
database.Humanoid = {}
--database.Humanoid
--Motor6D
database.Humanoid["Left Shoulder"] ={
	C0 = CFrame.new(-1, 0.5, 0)*CFrame.Angles(-0,math.rad(-90),0),
	C1 = CFrame.new(0.5, 0.5, 0)*CFrame.Angles(-0,math.rad(-90),0)
}

database.Humanoid["Right Shoulder"] ={
	C0 =  CFrame.new(1, 0.5, 0)*CFrame.Angles(0,math.rad(90),0),
	C1 = CFrame.new(-0.5, 0.5, 0)*CFrame.Angles(0,math.rad(90),0)
}	
database.Humanoid["Neck"] = {
	C0 = CFrame.new(0, 1, 0)*CFrame.Angles(math.rad(-90),0,math.rad(180)),
	C1 = CFrame.new(0, -0.5, 0)*CFrame.Angles(math.rad(-90),0,math.rad(180))
}
database.Humanoid["Left Hip"] = {
	C0 = CFrame.new(-1, -1, 0)*CFrame.Angles(0,math.rad(-90),0),
	C1 = CFrame.new(-0.5, 1, 0)*CFrame.Angles(0,math.rad(-90),0)
}
database.Humanoid["Right Hip"] = {
	C0 = CFrame.new(1, -1, 0)*CFrame.Angles(0,math.rad(90),0),
	C1 = CFrame.new(0.5, 1, 0)*CFrame.Angles(0,math.rad(90),0)	
}
--database.Frames
--Running
database.Frames.Running = {}

database.Frames.Running = {
	{
		["Right Shoulder"] = Vector3.new(0.1,-0.1,0),
		["Left Shoulder"] = Vector3.new(0.1,-0.1,0)				
	};
	{
		["Right Shoulder"] = Vector3.new(0,0,0),
		["Left Shoulder"] = Vector3.new(0,0,0)		
	};
	{
		["Right Shoulder"] = Vector3.new(-0.1,-0.1,0),
		["Left Shoulder"] = Vector3.new(-0.1,-0.1,0)
	}
}

for animation, frames in pairs(database.Frames) do
	table.insert(frames,{})
	for joint, _ in pairs(frames[1]) do
		frames[#frames][joint] = Vector3.new(0,0,0)
	end
	setmetatable(frames,{})
	getmetatable(frames).__index = {Joints = {}}
	for joint, _ in pairs(frames[1]) do
		table.insert(frames.Joints,joint)
	end
	
end

return database