A person could take a stroll, or go for a stroll.
It can be either, but more typically an adjective (a leisurely walk. to walk leisurely).
I took a leisurely walk to the store, since I was not in a hurry.
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Stroll
To walk slowly or leisurely. :)
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To walk in a leisurely, relaxed manner.
To stroll: walk at leisurely pace, calmly To walk: walk at normal pace
You use skeletal muscles when you walk.
You use skeletal muscles when you walk.