Comparison of crank based leg mechanism/locus

the locus
The path of the foot is called locus.

The locus can be divided into four parts:
 * support phase
 * lift phase
 * return phase
 * lower phase

An other way to look at locus is in two phases:
 * 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.

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.