Poles with footrests for walking high above the ground (6)

I believe the answer is:

stilts

(Other definitions for stilts that I've seen before include "Long sticks for elevated walking" , "Poles used for walking high above the ground" , "Sticks to help you walk tall" , "Tall sticks for lofty walking" , "Sticks to wall on" .)

I've seen this clue in The Irish Times.

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