[Kinematics of metachronous walking. II. Gaits]

For an arbitrary locomotory system three ways of gait classification are considered and compared. A general classification is represented as an "abstract scheme" of phase-space separation of the locomotory system. The "configurational scheme" is the result of methachronal coordination postulate, and the "footprint scheme" is the result of the postulating of special properties of the footprint track.