Walk as nature intended
In pre-history when we began walking on two legs, we walked barefoot. A walk with a shortish stride and midfoot/ forefoot strike. Walking this way, the muscles propelling you forward are the muscles of the foot and ankle, the hip flexors and the buttocks [but not the quadriceps on the front of the thigh]. This involves a high degree of ankle and midfoot flexibility. Much of the time the knee is slightly bent. This method is stable, the risk of falling is small and legs soak up the impact, rather than joints. When this transitions into a run it tends to become a pure forefoot strike, depending on speed. As you will see watching any competitive sprinter; they don't put their heels on the ground at any point.
Walk as nature intended
