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Walking (also known as ambulation) is one of the main gaits of terrestrial locomotion among legged animals. Walking is typically slower than running and other gaits. Walking is defined by an 'inverted pendulum' gait in which the body vaults over the stiff limb or limbs with each step. This applies regardless of the usable number of limbs—even arthropods, with six, eight, or more limbs, walk.
Regular, brisk exercise of any kind can improve confidence, stamina, energy, weight control and life expectancy and reduces stress. It can also decrease the risk of coronary heart disease, strokes, diabetes, high blood pressure, bowel cancer and osteoporosis. Scientific studies have also shown that walking, besides its physical benefits, is also beneficial for the mind, improving memory skills, learning ability, concentration and abstract reasoning, as well as ameliorating spirits.[clarification needed] Sustained walking sessions for a minimum period of thirty to sixty minutes a day, five days a week, with the correct walking posture, reduce health risks and have various overall health benefits, such as reducing the chances of cancer, type 2 diabetes, heart disease, anxiety disorder and depression. Life expectancy is also increased even for individuals suffering from obesity or high blood pressure. Walking also improves bone health, especially strengthening the hip bone, and lowering the harmful low-density lipoprotein (LDL) cholesterol, and raising the useful high-density lipoprotein (HDL) cholesterol. Studies have found that walking may also help prevent dementia and Alzheimer's.
It is theorized that "walking" among tetrapods originated underwater with air-breathing fish that could "walk" underwater, giving rise (potentially with vertebrates like Tiktaalik)[18] to the plethora of land-dwelling life that walk on four or two limbs. While terrestrial tetrapods are theorised to have a single origin, arthropods and their relatives are thought to have independently evolved walking several times, specifically in insects, myriapods, chelicerates, tardigrades, onychophorans, and crustaceans. Little skates, members of the demersal fish community, can propel themselves by pushing off the ocean floor with their pelvic fins, using neural mechanisms which evolved as early as 420 million years ago, before vertebrates set foot on land.
Judging from footprints discovered on a former shore in Kenya, it is thought possible that ancestors of modern humans were walking in ways very similar to the present activity as many as 3 million years ago.
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