In a previous post on walking, I broke the walking cycle down into four events for discussion. Here is another way of thinking about the same thing.
Whenever one of your feet is weightbearing, one of two things is happening...
- your center is moving toward your non-weightbearing (free-moving) leg
- your center is moving toward your weightbearing (stuck) leg
The first condition is when it is approipriate and efficient to fall out of the way. The second condition is when it is appropriate and efficient to step over the hill to get out of the way.