For "real" walking, i.e. travel or rambling downtown, I call on my Cobb Hill Bethany boots in cold weather and my Fidelio sandals in the heat (Bethany pictured in one of the responses above).
For everything in between, I love my Ecco High tops (2 different styles, in black and in white) and my Born side zip low sneakers. They have arch support, resilient, bouncy soles, and just enough breathability. I have Clark's sneakers that look great but make my feet hot quickly. The born sneakers are now on sale at Nordstrom.
I will take the Borns and the black Eccos with me next month when the Boy and I roam bits of the Baltic. The boots would better on cobblestones but I think they will be too warm.