Walking and an aha moment

Finally figured out one of my problems with walking today. I was quite literally swinging my left leg like a log - very little knee bend.  It seems I was never getting weight on my left leg to the point where the knee would start to bend. Maybe this was compensation after I left therapy but my PT ex should have been able to point that out if we ever went walking together.  Now I'll have to work even more at my dorsiflexion since the toe will be needed to lift even more sooner.
I never got to late flatfoot. And toe off most assuredly does not occur.
From this site come the phases of walking, looking at foot placement.

 http://www.footeducation.com/biomechanics-of-walking-gait