The aim of this study was to identify the compensations made when a child with normal motor control ascends and descends stairs while wearing a solid AFO. Ten healthy children were asked to ascend and descend stairs with shoes, right and bilateral AFOs. Repeated measures ANOVA identified differences in selected kinematic parameters. Peak-to-peak excursion of pelvic rotation, pelvic obliquity, and hip ab/adduction increased with AFO use (P<0.05). Mean anterior pelvic tilt increased with AFO use (P<0.05). Compensations at the trunk and the pelvis facilitated limb advancement and clearance. This information may be helpful in developing strategies for training patients with motor planning difficulties.