Walking

Definition

A gait of terrestrial locomotion in which the body vaults over stiff, weight-bearing limbs in an inverted-pendulum motion, with at least one limb in contact with the substrate at all times and no aerial phase. In arthropods, walking is the default slow-to-moderate locomotion using an alternating tripod (insects) or alternating sets of legs (arachnids, myriapods, crustaceans), distinct from running, trotting, or saltatory gaits where aerial phases or synchronous leg movements occur.

Etymology

Example

A stick insect (Phasmatodea) walking on a leaf moves each leg in a metachronal wave, maintaining static stability by keeping at least three legs on the substrate at any moment; when threatened, the same insect may switch to a running gait with brief aerial phases.

Synonyms

• ambulation
• pedal locomotion

Related Terms

• running
• gait
• Tarsus
• locomotion
• metachronal rhythm
• tripod gait
• substrate contact

Usage Notes

Specialists distinguish walking from running by the presence of a continuous support polygon and absence of an aerial phase, not merely by speed. In insect gait analysis, 'walking' typically refers to speeds below the transition point where aerial phases appear; this threshold varies by body size and leg number. The term is sometimes used loosely in field notes to describe any non-flying, non-jumping movement on legs.