For this dataset kinematics, ground reaction forces and electromyography data were collected during human treadmill walking. Participants walked on the treadmill at normal and slow walking speed, across different conditions. Apart from unconstrained steady-state walking, these conditions included imposed foot placement and ankle moment constraints. In our analysis we focused on the coupling between CoM kinematic state and foot placement, as well as correlations with muscle activity, reflecting active foot placement control. The results have been presented and discussed in the paper entitled: Active foot placement control ensures stable gait: Effect of constraints on foot placement and ankle moments. Guidelines on how to use this code can be found in the word file "Documentation", which can be found in the zipped folder.