An elliptical exercise machine may include a base, one or more upright stanchions coupled to the base and extending upward from the base and supporting first and second cranks. The first crank may support a first crank arm. The first crank arm may support a first pedal leg hanging downward from the first crank arm. The first pedal leg may support a right pedal. The right pedal may be configured to swing forward and rearward and to raise upward and lower downward. The second crank may support a second crank arm. The second crank arm may support a second pedal leg hanging downward from the second crank arm. The second pedal leg may support a left pedal. The left pedal may be configured to swing forward and rearward and to raise upward and lower downward.