I have knowledge, not so deep, about APA, when there are internally or externally originated perturbations during standing still or during gait initiation. But when I think about obstacle crossing (simple stepping over an obstacle), I can't make what parts of this motion (either with a shorter or a longer step is preferred before crossing) include APA. Also is there any compensatory postural adjustment (CPA) involvement after crossing the obstacle? Or the whole obstacle crossing is an entirely different phenomenon, not related to APA or CPA?