John Saunders, the first chancellor of UCSF, developed “six determinants” of this action, which was widely used until a 21st-century experiment disproved the idea that minimizing COM displacement is energetically favorable. A genetic algorithm was used to obtain the 13 “holy numbers” used in Jansen’s linkage, an efficient mechanism for this action. (-5[1])Tad McGeer's “passive-dynamic” model of this action is underactuated, (15[1])as opposed to the zero moment point method used in Honda's Asimo. The IHMC lab in Pensacola partnered with (*) Boston Dynamics to help Atlas perform this action (10[1])more (10[1])naturally. (10[3])The inverted (10[1])pendulum (10[1])is often used (10[1])to model the biomechanics of this action, (10[2])which alternates between single-support and double-support phases. For 10 points, name this action that occurs in a slow, shuffling manner in Parkinson's patients. ■END■ (10[1])