Editing Bipedalism (section)

====Walking====
[[File:Illu vertebral column.svg|thumb|128x128px|Profile view of the human spine]]
Unlike non-human apes that are able to practice bipedality such as ''[[Pan (genus)|Pan]]'' and ''[[Gorilla (genus)|Gorilla]]'', hominins have the ability to move bipedally without the utilization of a bent-hip-bent-knee (BHBK) [[Gait (human)|gait]], which requires the engagement of both the hip and the knee joints. This human ability to walk is made possible by the [[Vertebral column|spinal curvature]] humans have that non-human apes do not.<ref>{{Cite journal |last1=Lovejoy |first1=C. Owen |last2=McCollum |first2=Melanie A. |date=2010 |title=Spinopelvic pathways to bipedality: why no hominids ever relied on a bent-hip-bent-knee gait |journal=Philosophical Transactions: Biological Sciences |volume=365 |issue=1556 |pages=3289–3299 |doi=10.1098/rstb.2010.0112 |jstor=20778968 |pmid=20855303 |pmc=2981964 |issn=0962-8436}}</ref> Rather, walking is characterized by an "inverted pendulum" movement in which the [[center of gravity]] vaults over a stiff leg with each step.<ref name="books.google.com">{{Cite book |url=https://books.google.com/books?id=1sz5501URh0C&q=macmahon+muscles |title=Muscles, reflexes, and locomotion| isbn=978-0-691-02376-2 |last=McMahon |first=Thomas A. |year=1984|publisher=Princeton University Press }}</ref> [[Force plate]]s can be used to quantify the whole-body kinetic & potential energy, with walking displaying an out-of-phase relationship indicating exchange between the two.<ref name="books.google.com" /> This model applies to all walking organisms regardless of the number of legs, and thus bipedal locomotion does not differ in terms of whole-body kinetics.<ref name="ReferenceA">{{Cite book |url=https://books.google.com/books?id=yMaN9pk8QJAC |title=A moving topic: control and dynamics of animal locomotion |isbn=978-0-19-850022-3 |last1=Biewener |first1=Andrew A. |year=2003 |pmid=20410030 |last2=Daniel |first2=T. |volume=6 | issue=3 |pages=387–8 |doi=10.1098/rsbl.2010.0294 |pmc=2880073 |journal=Biology Letters}}</ref>

In humans, walking is composed of several separate processes:<ref name="books.google.com"/>
*Vaulting over a stiff stance leg
*Passive ballistic movement of the swing leg
*A short 'push' from the ankle prior to toe-off, propelling the swing leg
*Rotation of the hips about the axis of the spine, to increase stride length
*Rotation of the hips about the horizontal axis to improve balance during stance