Hi, I think it is ok to put your lo down at the point he is closing his lids, as he will still be learning how to get himself from light to deep sleep on his own. Not sure about the walking though. I think it may be better to try to get him to this point by sitting quietly in a chair patting and shhss-ing him instead. I used to rock mine and had to undo this, making the transition to p/s ing. The difference is, is that you can p/s in the cot, gradually reducing your input as time goes on, so eventually you will be able to put him down awake.
hope this helps a little.
Cheryl