Gaits and rider motion
Walk is a four-beat gait with each hoof landing separately. This model starts its stride at the left hind hoof, followed by left fore, right hind and right fore. A stride lasts 1.25 seconds at 1.5 m/s, covering about 1.88 m.
The hind hooves stay grounded for 57% of a stride and the fore hooves for 65%. Their overlapping support keeps the horse out of an aerial phase. The saddle still moves up and down, tilts and sways as support passes between the legs.
The rider's pelvis follows that moving support. In this walk example, the stiff-pelvis setting reduces its motion relative to the saddle from about 15.7° to 1.0°. Neither setting loses seat contact. This makes walk a useful comparison with the more pronounced bouncing in sitting trot.
Footfall timings and saddle motion use research-based parameters. Collected and extended walk change speed and stride; their joint motion includes modelled adjustments.