The other resource for walking technique is alexander technique.
I think walking technique can make a big difference. My personal experience is that the combination of shorter (but high cadence) steps, more balanced posture, and minimalist shoes addressed my foot, knee, and hip pain once the muscles were sufficiently strengthened. The Merrel video is similar to what I learned.
As to zero-sole heels, my personal experience is somewhat minimalist (to zero) heel is important, but that's not the whole store. My current theory is that sole flexibility seems to be more important. I can happily switch between inov-8 295/310/390 which aren't zero heel, and vivobarefoot/VFF which are zero heel, but when I tried some NB 101 which are more minimalist than the inov-8 shoes in every way but flexibility I found that I started to have hip pains after using them a few days.
As to poles... I used to swear by them, but now they ride in my pack except when I need extra stability for river crossing and to set up my shelter. I found that using the poles tends to through off my balance.