diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index e4503b4e78..c8af792d8f 100755
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -516,6 +516,10 @@ void MyAvatar::update(float deltaTime) {
     head->relax(deltaTime);
     updateFromTrackers(deltaTime);
 
+    if (getIsInWalkingState() && glm::length(getControllerPoseInAvatarFrame(controller::Action::HEAD).getVelocity()) < DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
+        setIsInWalkingState(false);
+    }
+
     //  Get audio loudness data from audio input device
     // Also get the AudioClient so we can update the avatar bounding box data
     // on the AudioClient side.
@@ -3678,10 +3682,10 @@ static bool headAngularVelocityBelowThreshold(const controller::Pose& head) {
     return isBelowThreshold;
 }
 
-static bool isWithinThresholdHeightMode(const controller::Pose& head,const float& newMode) {
+static bool isWithinThresholdHeightMode(const controller::Pose& head, const float& newMode, const float& scale) {
     bool isWithinThreshold = true;
     if (head.isValid()) {
-        isWithinThreshold = (head.getTranslation().y - newMode) > DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD;
+        isWithinThreshold = (head.getTranslation().y - newMode) > (DEFAULT_AVATAR_MODE_HEIGHT_STEPPING_THRESHOLD * scale);
     }
     return isWithinThreshold;
 }
@@ -3802,6 +3806,10 @@ float MyAvatar::getUserEyeHeight() const {
     return userHeight - userHeight * ratio;
 }
 
+bool MyAvatar::getIsInWalkingState() const {
+    return _isInWalkingState;
+}
+
 float MyAvatar::getWalkSpeed() const {
     return _walkSpeed.get() * _walkSpeedScalar;
 }
@@ -3818,6 +3826,10 @@ void MyAvatar::setSprintMode(bool sprint) {
     _walkSpeedScalar = sprint ? _sprintSpeed.get() : AVATAR_WALK_SPEED_SCALAR;
 }
 
+void MyAvatar::setIsInWalkingState(bool isWalking) {
+    _isInWalkingState = isWalking;
+}
+
 void MyAvatar::setWalkSpeed(float value) {
     _walkSpeed.set(value);
 }
@@ -3912,7 +3924,6 @@ void MyAvatar::lateUpdatePalms() {
     Avatar::updatePalms();
 }
 
-
 static const float FOLLOW_TIME = 0.5f;
 
 MyAvatar::FollowHelper::FollowHelper() {
@@ -4004,24 +4015,36 @@ bool MyAvatar::FollowHelper::shouldActivateHorizontalCG(MyAvatar& myAvatar) cons
     controller::Pose currentRightHandPose = myAvatar.getControllerPoseInAvatarFrame(controller::Action::RIGHT_HAND);
 
     bool stepDetected = false;
-    if (!withinBaseOfSupport(currentHeadPose) &&
+    float myScale = myAvatar.getAvatarScale();
+
+    if (myAvatar.getIsInWalkingState()) {
+        stepDetected = true;
+    } else {
+        if (!withinBaseOfSupport(currentHeadPose) &&
             headAngularVelocityBelowThreshold(currentHeadPose) &&
-            isWithinThresholdHeightMode(currentHeadPose, myAvatar.getCurrentStandingHeight()) &&
+            isWithinThresholdHeightMode(currentHeadPose, myAvatar.getCurrentStandingHeight(), myScale) &&
             handDirectionMatchesHeadDirection(currentLeftHandPose, currentRightHandPose, currentHeadPose) &&
             handAngularVelocityBelowThreshold(currentLeftHandPose, currentRightHandPose) &&
             headVelocityGreaterThanThreshold(currentHeadPose) &&
             isHeadLevel(currentHeadPose, myAvatar.getAverageHeadRotation())) {
-        // a step is detected
-        stepDetected = true;
-    } else {
-        glm::vec3 defaultHipsPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Hips"));
-        glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
-        glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
-        float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
-        if (!isActive(Horizontal) &&
-            (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance)))) {
-            myAvatar.setResetMode(true);
+            // a step is detected
             stepDetected = true;
+            if (glm::length(currentHeadPose.velocity) > DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
+                myAvatar.setIsInWalkingState(true);
+            }
+        } else {
+            glm::vec3 defaultHipsPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Hips"));
+            glm::vec3 defaultHeadPosition = myAvatar.getAbsoluteDefaultJointTranslationInObjectFrame(myAvatar.getJointIndex("Head"));
+            glm::vec3 currentHeadPosition = currentHeadPose.getTranslation();
+            float anatomicalHeadToHipsDistance = glm::length(defaultHeadPosition - defaultHipsPosition);
+            if (!isActive(Horizontal) &&
+                (glm::length(currentHeadPosition - defaultHipsPosition) > (anatomicalHeadToHipsDistance + (DEFAULT_AVATAR_SPINE_STRETCH_LIMIT * anatomicalHeadToHipsDistance)))) {
+                myAvatar.setResetMode(true);
+                stepDetected = true;
+                if (glm::length(currentHeadPose.velocity) > DEFAULT_AVATAR_WALK_SPEED_THRESHOLD) {
+                    myAvatar.setIsInWalkingState(true);
+                }
+            }
         }
     }
     return stepDetected;
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 06267b3819..5008190c33 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -1086,6 +1086,8 @@ public:
 
     const QUuid& getSelfID() const { return AVATAR_SELF_ID; }
 
+    void setIsInWalkingState(bool isWalking);
+    bool getIsInWalkingState() const;
     void setWalkSpeed(float value);
     float getWalkSpeed() const;
     void setWalkBackwardSpeed(float value);
@@ -1788,6 +1790,7 @@ private:
     ThreadSafeValueCache<float> _walkBackwardSpeed { DEFAULT_AVATAR_MAX_WALKING_BACKWARD_SPEED };
     ThreadSafeValueCache<float> _sprintSpeed { AVATAR_SPRINT_SPEED_SCALAR };
     float _walkSpeedScalar { AVATAR_WALK_SPEED_SCALAR };
+    bool _isInWalkingState { false };
 
     // load avatar scripts once when rig is ready
     bool _shouldLoadScripts { false };
diff --git a/interface/src/avatar/MySkeletonModel.cpp b/interface/src/avatar/MySkeletonModel.cpp
index 77d1a87195..3084542472 100644
--- a/interface/src/avatar/MySkeletonModel.cpp
+++ b/interface/src/avatar/MySkeletonModel.cpp
@@ -46,7 +46,7 @@ static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
     }
 
     glm::mat4 hipsMat;
-    if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying) {
+    if (myAvatar->getCenterOfGravityModelEnabled() && !isFlying && !(myAvatar->getIsInWalkingState())) {
         // then we use center of gravity model
         hipsMat = myAvatar->deriveBodyUsingCgModel();
     } else {
diff --git a/libraries/shared/src/AvatarConstants.h b/libraries/shared/src/AvatarConstants.h
index 986d39e94d..6c38d08c96 100644
--- a/libraries/shared/src/AvatarConstants.h
+++ b/libraries/shared/src/AvatarConstants.h
@@ -68,6 +68,7 @@ const glm::quat DEFAULT_AVATAR_RIGHTFOOT_ROT { -0.4016716778278351f, 0.915461599
 const float DEFAULT_AVATAR_MAX_WALKING_SPEED = 2.6f; // meters / second
 const float DEFAULT_AVATAR_MAX_WALKING_BACKWARD_SPEED = 2.2f; // meters / second
 const float DEFAULT_AVATAR_MAX_FLYING_SPEED = 30.0f; // meters / second
+const float DEFAULT_AVATAR_WALK_SPEED_THRESHOLD = 0.15f;
 
 const float DEFAULT_AVATAR_GRAVITY = -5.0f; // meters / second^2
 const float DEFAULT_AVATAR_JUMP_SPEED = 3.5f; // meters / second