Each walking cycle has two periods of double support (DS), as shown by

Gait Cycle - an overview

Gait Cycle - an overview

Gait Cycle

PDF) Prior Experience but Not Size of Error Improves Motor Learning on the Split-Belt Treadmill in Young Children

Gait Cycle - an overview

Dynamic postural stability results in the groups

Frontiers Modulation of Muscle Synergies in Lower-Limb Muscles Associated With Split-Belt Locomotor Adaptation

Periodic Walking Motion of a Humanoid Robot Based on Human Data

Interpreting Spatiotemporal Parameters, Symmetry, and Variability in Clinical Gait Analysis

The Gait Cycle - Physiopedia

Susan PATRICK, University of Alberta, Edmonton, UAlberta, Faculty of Pharmacy and Pharmaceutical Sciences

Frontiers The role of the ankle plantar flexor muscles in trip recovery during walking: a computational modeling study

Dynamic postural stability results in the groups