This dataset contains gait data used to produce the results of the paper (currently under review at Human Movement Science): 'Effect of perturbation timing on recovering whole-body angular momentum during very slow walking'. An extensive description of the methods can be found in the paper. 10 healthy participants walked on a treadmill while receiving perturbations of the whole body angular momentum at the moment of toe off right, mid-swing and heel strike right. Meanwhile ground reaction forces and optical motion capture was recorded. The dataset contains the following measures: whole body angular momentum, centre of pressure position, horizontal ground reaction force, moment arm of the ground reaction force with respect to centre of mass, the interaction forces between the motors applying the perturbations and the participants, and the joint moments of the left and right hip, knee and ankle.