I have stumbled upon a technique which recruits the abdomen "a lot" during that transition, using it's strength to wave the spine forward, lift the knee high and get that foot up. We will begin working on that technique tonight. It is challenging to be sure but worth the effort.

Overall, we begin the transition by lifting the leg that will step forward back and up. We then begin to tuck the tailbone, allowing the back to round, pulling the abdomen in towards the spine and up, moving the shoulders forward over the wrists and keeping the hips high. The knee of the leg stepping forward will tuck high towards the chest first, before the foot steps down. This lift in the hips and strong abdominal pull in and up creates a lift for the leg and some nice momentum for the leg to come forward. We'll try it and see if it helps. I think it will.