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उद्घट्टितः समश्चैव तथाग्रतलसञ्चरः । अञ्चितः कुञ्चितश्चैव पादः पञ्चविध स्मृतः ॥ २६६॥
The foot (pāda) is said to be of five kinds: Udghaṭṭita, Sama, Agratalasañcara, Añcita, and Kuñcita.
english translation
स्थित्वा पादतलाग्रेण पार्ष्णिर्भूमौ निपात्यते । यस्य पादस्य करणे भवेदुद्घट्टितस्तु सः ॥ २६७॥
Standing with the front part of the foot touching the ground and the heel raised, the foot used in this manner is called Udghaṭṭita.
english translation
अयमुद्वेष्टितकरणे त्वनुकरणार्थं प्रयोगमासाद्य । द्रुतमध्यमप्रचारः सकृदसकृदा प्रयोक्तव्यः ॥ २६८॥
This Udvēṣṭita Karaṇa (foot movement) is used for imitation, and should be applied sometimes quickly and sometimes at a medium pace.
english translation
स्वभावरचिते भूमौ समस्थाने च यो भवेत् । समः पादः स विज्ञेयः स्वभावाभिनयाश्रयः ॥ २६९॥
The foot that is naturally placed evenly on the ground and stands in a balanced position is known as Sama (natural) foot, which forms the basis of natural expression.
english translation
स्थिरस्वभावाभिनये नानाकरणसंश्रये । चलितश्च पुनः कार्यो विधिज्ञैः पादरेचिते ॥ २७०॥
In steady natural expression, various movements are avoided, but in natural foot placement, movement is again to be performed as prescribed by the experts.
english translation