There are many occasions where non-rhythmic stepping (NRS) is more desirable than normal walking. This can be observed in performing tasks in a narrow work space. For this purpose NRS is considered as a variation of curved path walking. Four types of local adjustment are dealt with: forward, backward, lateral stepping, and turnaround. In the lower body motion, the trajectory of the hip, angular trajectory of the feet, and the trajectory of the swing ankle during the swing phase determine the basic outline of an NRS. These trajectories are precomputed in INITIALIZE_ARS before each NRS begins. ADVANCE_DRS is called with a normalized time to generate the actual pose of the NRS at that moment. The normalized time is a logical time, covering zero to one during a complete step.