Kinesin1 is a motor protein that uses the energy from ATP hydrolysis to move intracellular cargoes along microtubules. It contains 2 identical motor domains, or heads, that coordinate their mechano-chemical cycles to move processively along microtubules. The molecular mechanism of coordination between head domains remains unclear, partly because of the lack of structural information on critical intermediates of the kinesin1 mechano-chemical cycle. A point of controversy has been whether before ATP binding, in the so called ATP-waiting state, 1 or 2 motor domains are bound to the microtubule. To address this issue, here we use ensemble and single molecule fluorescence polarization microscopy (FPM) to determine the mobility and orientation of the kinesin1 heads at different ATP concentrations and in heterodimeric constructs with microtubule binding impaired in 1 head. We found evidence for a mobile head during the ATP-waiting state. We incorporate our results into a model for kinesin translocation that accounts well for many reported experimental results.cytoskeleton ͉ fluorescence ͉ microtubule ͉ single-molecule ͉ polarization K inesin1 is a motor protein that uses the energy of ATP hydrolysis to generate force and movement along microtubules (1). It contains 2 identical motor domains or heads where microtubule binding and ATP hydrolysis occur. It takes 8-nm steps between binding sites along the microtubule (2), hydrolyzing 1 ATP molecule per step (3-5). A stepping event is thought to occur when ATP binds to one of the heads inducing a disorder-to-order transition (docking) of a region called the neck linker, a short segment of Ϸ15 residues located at the C-terminal end of each head (6-8). Kinesin1 is a processive motor that can walk for more than an micrometer, going through hundreds of ATP hydrolysis cycles without dissociating from the microtubule (9). Processivity is achieved by an asymmetric hand-over-hand walking mechanism, in which the 2 heads coordinate their activities to alternate leading and trailing positions at each step (10-13).The molecular mechanism of coordination between kinesin1 motor domains is still unclear. Kinetic studies have identified ADP release and nucleotide binding as one of the coordinating steps. In solution, kinesin1 binds ADP tightly and interaction with the microtubule results in rapid release of 1 ADP molecule per kinesin head dimer. The second ADP molecule is released much more slowly, unless there is ATP present (or a nonhydrolysable ATP analogue) that accelerates the release of the second ADP molecule (14-16). This phenomenon constitutes a coordinating step or gate, as 1 kinesin head has to wait for the partner head to complete a particular step (ATP binding) to proceed (17). Several possible models have been proposed to explain this coordinating gate (18). One model proposes that in the ATPwaiting state the ADP containing head is kept away from the microtubule by interactions with the microtubule-bound head (19). Another model proposes that both motor domains can bind to th...