A walking simulator, including: - an articulated mechanical foot, - a first displacement system adapted to move said articulated mechanical foot in a movement combining a translational movement in a horizontal direction and a rotational movement about a transverse direction, orthogonal to said horizontal direction, - a platform having an upper surface adapted to come into contact with the articulated mechanical foot, - a second displacement system, adapted to move said platform in translation in a vertical direction, orthogonal to the horizontal direction and to the transverse direction, the first displacement system and the second displacement system being designed to be controlled in an independent or interpolated manner, so that the movement of the articulated mechanical foot relative to the platform is similar to that of a human foot relative to the ground during a walking or running cycle, wherein the first displacement system includes an intermediate part having: - a first end fastened to the articulated mechanical foot and - a second end fastened to a carriage, movable in the horizontal direction, via a pivot connection in the transverse direction, wherein the first displacement system includes a connecting rod/crank system (5, 6) designed to move the carriage in the horizontal direction, the crank being movable in rotation about the transverse direction, wherein the first displacement system includes: - a gear motor designed to drive the intermediate part in a rotational movement about the transverse direction, and - a motor designed to drive the crank in a rotational movement about the transverse direction, this motor and this gear motor being able to be controlled independently of each other. - an articulated mechanical foot, - a first displacement system adapted to move said articulated mechanical foot in a movement combining a translational movement in a horizontal direction and a rotational movement about a transverse direction, orthogonal to said horizontal direction, - a platform having an upper surface adapted to come into contact with the articulated mechanical foot, - a second displacement system, adapted to move said platform in translation in a vertical direction, orthogonal to the horizontal direction and to the transverse direction, the first displacement system and the second displacement system being designed to be controlled in an independent or interpolated manner, so that the movement of the articulated mechanical foot relative to the platform is similar to that of a human foot relative to the ground during a walking or running cycle, wherein the first displacement system includes an intermediate part having: - a first end fastened to the articulated mechanical foot and - a second end fastened to a carriage, movable in the horizontal direction, via a pivot connection in the transverse direction, - a first end fastened to the articulated mechanical foot and - a second end fastened to a carriage, movable in the horizontal direction, via a pivot connection in the transverse direction, wherein the first displacement system includes a connecting rod/crank system (5, 6) designed to move the carriage in the horizontal direction, the crank being movable in rotation about the transverse direction, wherein the first displacement system includes: - a gear motor designed to drive the intermediate part in a rotational movement about the transverse direction, and - a motor designed to drive the crank in a rotational movement about the transverse direction, - a gear motor designed to drive the intermediate part in a rotational movement about the transverse direction, and - a motor designed to drive the crank in a rotational movement about the transverse direction, this motor and this gear motor being able to be controlled independently of each other.