Final answer:
The iliopsoas muscle is active during the heel strike and mid-stance phases of gait.
Step-by-step explanation:
During the gait cycle, which is the walking cycle, the iliopsoas muscle is active at specific phases. The correct answer is d. Heel strike and mid-stance.
At heel strike, when the foot makes initial contact with the ground, the iliopsoas helps to control the descent of the leg. This muscle is also active during mid-stance, which is the phase when the body's weight is centered over the supporting leg. The iliopsoas helps to stabilize the hip joint and maintain balance as the body transitions from one leg to the other.