Absolutely. In terms of effective, controlled movement, it's better in pretty much every single way, except that it costs more energy, which is why it's general

Absolutely. In terms of effective, controlled movement, it's better in pretty much every single way, except that it costs more energy, which is why it's generally not a particularly natural, intuitive thing to do all the time. Like probably every living organism, we're not generally programmed for unnecessary exertion. EDIT: That being said, a lot can be improved in most people's heel-first gait, among other things - taking smaller steps, pushing the pelvis slightly forward into a neutral tilt, staying a bit closer to the ground (slightly more bent knees), making contact with the ground before shifting the whole weight, not throwing the legs forward and letting the heels slam on the ground. Getting all of that right makes heel-walking a lot more controlled and less bouncy. It also feels great.