< Comparison of crank based leg mechanism 
the locus
Phases of the Locus
The path of the foot is called locus.
The locus can be divided into four parts:[1]
- support phase
- lift phase
- return phase
- lower phase
Phases of the Locus
An other way to look at locus is in two phases:[1]
- support phase
- transfer phase
Eitherway, the support phase is where the leg is carrying the weight of the vehicle and pushing it forward.
Other literature uses the terms swing and stance phase.[2]
Footpaths
In this section, you find the path of the foot as set of coordinates.
The table is shorted by turning point, support phase, turning point, transfer phase.
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