Laudator Temporis Acti

Walker's Manly Exercises: Rowing, Sailing, Riding, Driving, 7th ed. (London: William Orr & Co., 1843), p. 31:

For the purpose of walking, we first bear upon one leg the weight of the body, which pressed equally on both. The other leg is then raised, and the foot quits the ground by rising from the heel to the point. For that purpose, the leg must be bent upon the thigh, and the thigh upon the pelvis: the foot is then carried straight forward, at a sufficient height to clear the ground without grazing it. To render it possible, however, to move this foot, the haunch, which rested with its weight upon the thigh, must turn forward and out. As soon as, by this movement, this foot has passed the other, it must be extended on the leg, and the leg upon the thigh, and in this manner, by the lengthening of the whole member, and without being drawn back, it reaches the ground at a distance in advance of the other foot, which is more considerable according to the length of the step, and it is placed so softly on the ground as not to jerk or shake the body in the slightest degree. As soon as the foot which has been placed on the ground becomes firm, the weight of the body is transported to the limb on that side, and the other foot, by a similar mechanism, is brought forward in its turn. In all walking, the most important circumstance is, that the body incline forward, and that the movement of the leg and thigh spring from the haunch, and be free and natural. Viewed in this way, the feet have been well compared to the spokes of a wheel: the weight of the body falling upon them alternately.

Hat tip: Eric Thomson.