Algorithm 1: Peak-points clustering pseudo code
Input: [n_ last_stance_end, n_current_stance_beginning, ary_peaks]
Output: [left_peaks, right_peaks}
Initialize: center_0 = n_ last_stance_end, center_1 = n_current_stance_beginning, center_0_old = inf, center_1_old = inf, iter_num = 0;
1	while iter_num < 50 do
2	iter_num++;
3	for point in ary_peaks do
4	if $|\left|\mathrm{point}\_\mathrm{index}-\mathrm{center}\_0\right|⬚{\left.\right|}_2<{\left|\left|\mathrm{point}\_\mathrm{index}-\mathrm{center}\_1\right|\right|}_2$
5	left_peaks = [left_peaks; $\mathrm{point}\_\mathrm{index}$ ];
6	else
7	right_peaks = [right_peaks; $\mathrm{point}\_\mathrm{index}$ ];
8	end
9	center_0_old = center_0, center_1_old = center_1;
10	center_0 = mean(left_peaks), center_1 = mean(right_peaks);
11	if $|\left|\mathrm{center}\_0-\mathrm{center}\_0\_\mathrm{old} \right|⬚{\left.\right|}_2<\epsilon$ and $|\left|\mathrm{center}\_1-\mathrm{center}\_1\_\mathrm{old} \right|⬚{\left.\right|}_2<\epsilon$
12	break;
13	else
14	continue;
15	end
16	return [left_peaks, right_peaks]