International Society of Biomechanics has proposed a general reporting standard for joint kinematics based on anatomical reference frames. Nevertheless, the gait analysis protocols based on this standard are still poorly reported. The purpose of the current study is to propose and preliminarily assess the potential of an anatomically based ISB 6-DOF protocol, which combines the ISB reporting standard together with a marker cluster technique. The proposed technical marker set enables full description of the lower limb kinematics (including three-dimensional ankle-foot complex rotations) according to the current biomechanical recommendation. The marker set provides a clinically acceptable inter-trial repeatability and minimal equipment requirements.