Phase

Events

Image

A

Hind right impact.
Start of hind right single stance.

B

Fore left impact.
Start of right diagonal stance.

C

Hind right liftoff.
Start of fore left single stance.
Fore left liftoff.
Start of first airborne phase.

D

Airborne phase.

E

Hind left impact.
Start of hind right single stance.

F

Fore right impact.
Start of left diagonal stance.

G

Hind left liftoff.
Start of fore right single stance.
Fore right liftoff.
Start of second airborne phase.

H

Airborne phase.

A

Hind right impact.
Start of subsequent stride.