Table 1.
Phase | Start Stance Conditions | End Stance Condition |
---|---|---|
From IC to LR | RH & LT | RH & RT & !LT |
From LR to MST | RH & RT & !LT | RH & RT & LCE |
From MST to TST | RH & RT & LCE | RT & !LH & !LT |
From TST to PSW | RT & !LH & !LT | RT & LH |
From PSW to ISW | RT & LH | !RT & LH & LT |
From ISW to MSW | !RT & LH & LT | RCE & LH & LT |
From MSW to TSW | RCE & LH & LT | !RH & !RT & LT |
From TSW to IC | !RH & !RT & LT | RH & LT |