Walking
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Walking is one of the main gaits of terrestrial locomotion among legged animals. Walking is typically slower than running and other gaits. Walking is defined by an "inverted pendulum" gait in which the body vaults over the stiff limb or limbs with each step. This applies regardless of the usable number of limbs—even arthropods, with six, eight, or more limbs, walk. In humans, walking has health benefits including improved mental health and reduced risk of cardiovascular disease and death.
Computer simulation of a human walk cycle. In this model the head keeps the same level at all times, whereas the hip follows a sine curve.
Racewalkers at the World Cup Trials in 1987
Nordic walkers
Free heels are a defining characteristic of ski touring
Terrestrial locomotion
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Terrestrial locomotion has evolved as animals adapted from aquatic to terrestrial environments. Locomotion on land raises different problems than that in water, with reduced friction being replaced by the increased effects of gravity.
The velvet worm (Onychophora)
A jumping kangaroo.
Helix pomatia crawling over razor blades. Terrestrial gastropods crawl on a layer of mucus. This adhesive locomotion allows them to crawl over sharp objects.
The pangolin Manis temminckii in defensive position.