(Downloading may take up to 30 seconds.
If the slide opens in your browser, select File -> Save As to save it.)
Click on image to view larger version.



Fig. 2. (1) Tentative step, (2) gap-crossing step, (3) normal walking step and (4) short step, shown schematically. PEP, posterior extreme position; AEP, anterior extreme position; fAEP, fictive anterior extreme position; swing, initial swing movement (green); search, subsequent searching movement (red).