Pelvic rotation in transverse planeminimizes drop in center of gravity byeffectively lengthening the limbsKnee flexion on full stance. Limb minimizes rise incenter of gravity by effectively shortening the limbPelvic tilt (drop) on swing side minimizes rise incenter of gravityMovement of knees toward midline(adduction of hip) minimizes lateralshift in center of gravityAbduction on stanceside controls andlimits the dropLateral shift incenter of gravityWith adductionof hip (kneesmove towardmidline)No adductionof hip (knees donot move towardmidline)Vertical shift incenter of gravityInternal rotationof hip jointExternal rotation of hip jointCenter of gravity with knee not flexedCenter of gravity with knee flexedFlexion