A stationary elliptical exercise device comprising: (a) a frame defining a longitudinally and transversely extending sagittal plane, and (b) left and right foot supporting linkages, each including a four bar dual rocker linkage that includes: (i) a foot link operably supported on the frame for movement of a pair of laterally offset first and second connection points on the foot link through generally elliptical paths within parasagittal planes, (ii) a glide link pivotably connected at a first end to the first connection point on the foot link for pivoting about a first transverse pivot axis (p 5), and operably constrained for coordinated pivoting about the first transverse pivot axis (p 5) as the first connection point moves along the generally elliptical path, (iii) a drawbar pivotably connected at a first end to the second connection point on the foot link for pivoting about a second transverse pivot axis (p 9), and (iv) a foot support platform pivotably connected proximate a second end of the glide link and proximate a second end of the drawbar at laterally offset third and fourth connection points on the foot support platform for pivoting about a third and a fourth transverse pivot axis (p 8, p 10) respectively, (v) whereby yawing of the foot support platform about a yaw axis of the foot support platform is reduced by the drawbar as the first and second connection points of the foot link travel along the respective generally elliptical paths. (a) a frame defining a longitudinally and transversely extending sagittal plane, and (b) left and right foot supporting linkages, each including a four bar dual rocker linkage that includes: (i) a foot link operably supported on the frame for movement of a pair of laterally offset first and second connection points on the foot link through generally elliptical paths within parasagittal planes, (ii) a glide link pivotably connected at a first end to the first connection point on the foot link for pivoting about a first transverse pivot axis (p 5), and operably constrained for coordinated pivoting about the first transverse pivot axis (p 5) as the first connection point moves along the generally elliptical path, (iii) a drawbar pivotably connected at a first end to the second connection point on the foot link for pivoting about a second transverse pivot axis (p 9), and (iv) a foot support platform pivotably connected proximate a second end of the glide link and proximate a second end of the drawbar at laterally offset third and fourth connection points on the foot support platform for pivoting about a third and a fourth transverse pivot axis (p 8, p 10) respectively, (v) whereby yawing of the foot support platform about a yaw axis of the foot support platform is reduced by the drawbar as the first and second connection points of the foot link travel along the respective generally elliptical paths. (i) a foot link operably supported on the frame for movement of a pair of laterally offset first and second connection points on the foot link through generally elliptical paths within parasagittal planes, (ii) a glide link pivotably connected at a first end to the first connection point on the foot link for pivoting about a first transverse pivot axis (p 5), and operably constrained for coordinated pivoting about the first transverse pivot axis (p 5) as the first connection point moves along the generally elliptical path, (iii) a drawbar pivotably connected at a first end to the second connection point on the foot link for pivoting about a second transverse pivot axis (p 9), and (iv) a foot support platform pivotably connected proximate a second end of the glide link and proximate a second end of the drawbar at laterally offset third and fourth connection points on the foot support platform for pivoting about a third and a fourth transverse pivot axis (p 8, p 10) respectively, (v) whereby yawing of the foot support platform about a yaw axis of the foot support platform is reduced by the drawbar as the first and second connection points of the foot link travel along the respective generally elliptical paths.