A number of studies have used interference paradigms to examine the impact of motor constraints on the perception of peri-personal space. They highlight the deleterious effects of manual or upper limb constraints on the perception of distances in this space, sometimes also referred to as reachable space, but not in the space just beyond. However, there has been less research on the exploration of extra-personal space requiring physical movement. The aim of this study is to examine different forms of extra-personal space, in particular extra-personal action space requiring motor movement, in order to highlight the role of sensorimotor information from the lower limbs. It will help inform which specific sensorimotor information contributes to the spatial representations present in memory, depending on whether we consider peripersonal or extrapersonal space, and identify the common processes involved. This work should shed light on our understanding of the perception and formation of distance representations in environmental exploration, navigation, and mobility situations.