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I am no expert  but most kids are walking by that age.  If your pedi isn't worried then give him another month or so but I would keep pushing him.  Have him walk a tiny distance between you and your hubby to help him gain confidence and then gradually get farther apart.  If he's not improving in a month you may look for a recommendation for physical therapy.

My second dd didnt walk until 17.5 months.  I would give it a little longer....is he cruising along furniture?  Can he support his own weight, and does he take steps holding on?

He sounds like he does have some gross motor delays. (btw that has nothing to do with how smart he either is or isn't). It sounds like he is going in the right direction but if he were my baby, I would be contacting early intervention for a screening or evaluation. They may tell you that he's just a slow developer and then give you ideas of how you can encourage him to walk. Or they may tell you that he is actually more delayed than you realized and then qualify him for services. Either way, at least you would have a physical therapist who is trained in infant development give you the final word. Doctors are not physical therapists. They do not know everything.

My son started walking at 18 months 1 week. He is in early intervention because of motor and speech delays. His pediatrician wasn't worried. Actually 18 months is the end of the spectrum for when children start walking. Something you can do to help is get an activity walker. You know one of those toys that they walk behind and push. They make them with all sorts of activities on them or able change into ride ons so he can still use it after he learns to walk.

Our dr said if a child can walk while holding hands and toys and can cruise furniture she doesn't worry until a they are 2 and not walking. Dd was scared to walk too. She finally started walking at 16 months or so. It seemed like it took forever.