Walter was raised on the west side of Detroit. Overcoming the drugs and violence of his neighbor with the support of his family, he developed an interest in acting at an early age, performing with the African American Studio Theater Troupe and The Children's Theater Troupe. After high school, Walter honed his skills working as an entertainer and assistant cruise director on a cruise ship line. Later he earned a scholarship to the United States International University of Performing and Visual Arts in San Diego, graduating with a BFA Degree in Musical Theater, and also participated as a dancer at the 1992 Barcelona Summer Olympics.

Walter's first big role came as the Mighty Morphin Power Rangers superhero "Zack," which made him instantly recognizable to millions of fans around the world. Since then Walter has guest starred on numerous TV shows including Buffy the Vampire Slayer, NYPD Blue, and C.S.I., with recurring roles on Moesha, Off Center, and The Shield. He has also starred in two recent TV films, Brink (Disney Channel) and Mutiny (NBC). His many theatre performances have included roles in Ain’t Misbehavin (Morgon Wixson Theatre), Kiss Me Kate (USIU), 42nd Street (USIU), and West Side Story (Theater in Old Town).

Walter is aslo a professional dancer, Instructor, Choreographer specializing in salsa, cha cha cha, merengue and hip hop. He has won numerous dance competions in the professional category.

Besides being a "triple threat" as an actor, singer, and dancer, Walter does stunt work, with skills in fight choreography and martial arts.

Harlan's hero was his father, and couldn't wait to grow up to be just like him: an intrepid, heroic starship captain in the Stardogs. When his father, was killed in the Spung War, it shattered Harlan. Two years later, his late father's commanding officer married Harlan's mother. His dtep-father was an exacting, unforgiving soldier, and his constant demands for perfection from Harlan spiraled the boy down deeper in despair and self-doubt. Being placed in the Space Cases class with an Andromendan was, as far as Harlan was concerned, hitting rock-bottom.

Now, lost in space, Harlan is finally regaining his confidence as his piloting and leadership skills blossom.