I don't usually post articles that require any type of login, but I really enjoyed this article. Learning about a place by walking, following street signs (or not) and just enjoying the sights is one of the best ways to experience a city. I do this occasionally with much less of a plan. This author doesn't mention it, but I've seen articles in the past about walking a patter (like walk 2 blocks and turn left, walk one and turn right, walk one more and turn left, etc.). The idea is that you will find things that even frequest walkers would not pass.