Final answer:
Minimum height during gait occurs in the mid-stance phase, where body weight is fully on the leg, and the sole is lowered to the ground to maintain posture.
Step-by-step explanation:
The minimum height during gait occurs during mid-stance. This is the phase where the body's weight is fully transferred onto the leading leg. The other phases of gait, such as heel contact and toe-off, involve the body rising in preparation for the next step, while the swing phase is when the leg is moving forward and is not supporting any weight. Mid-stance represents the moment when lowering the sole of the foot to the ground is maximized for maintaining posture during walking.