During walking, many anatomical features of the lower limbs contribute to minimizing fluctuations in the body’s center of gravity and thereby reduce the amount of energy needed to maintain locomotion and produce a smooth, efficient gait (Fig. 6.7). They include pelvic tilt in the coronal plane, pelvic rotation in the transverse plane, movement of the knees toward the midline, flexion of the knees, and complex interactions between the hip, knee, and ankle. As a result, during walking, the body’s center of gravity normally fluctuates only 5 cm in both vertical and lateral directions.