An exercise apparatus includes a frame configured to rest on a floor surface; left and right cranks rotatably mounted on the frame; left and right drive links having forward ends rotatably coupled to respective cranks, and rearward ends constrained to move in reciprocal fashion relative to the frame; left and right rocker links rotatably mounted on the frame at a common pivot axis; left and right drawbar links rotatably interconnected between respective rocker links and respective drive links; and left and right foot links having forward ends rotatably coupled to respective rocker links, and rearward, foot supporting ends constrained to move in reciprocal fashion relative to respective drawbar links or respective drive links. The resulting linkage assemblies constrain the foot supporting ends to move through elliptical paths, and the paths may be altered by adjusting various components of the linkage assemblies relative to one another and/or the frame.

 
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