Locomotion

Locomotion = centre of mass (CoM) position change over time

Mass is what you are.  Weight is sensed or measure in the feet as pressure.

Tai chi = System of conscious locomotion.  The CoM is shifted from the trailing leg to the leading leg.  Leading side core is energized,  lifting knee, pulling  foot off ground, extension of  knee, land heel then toes, set foot anchor. Pull CoM forward with tension on the anchor and the  CoM advances until the line of gravity meets the leading heel. Leading knee NOT beyond the toes.  Settle CoM with slight lean and head balancing, eyes soft.  CoM roots within base of support

Advancing prime mover = GMax of leading leg.  Retreating prime mover is Quad of leading leg.  Left/Right prime movers are  Gmax and Quad of leading leg.

Biological locomotion = biotensegrity model of struts and strings.  Levers and pulleys model is out of step with current locomotion theories.