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During the night, you cycle through five separate stages of sleep every 90 to 110 minutes, experiencing between three and five dream periods each night. The five stages of sleep can be distinguished by changes in the electrical activity in your brain, measured by electroencephalogram (EEG).
(For example: How Your Body Clock Affects Sleep) This is why sleepwalking is possible during nREM sleep and not during REM sleep: your body is paralyzed during REM sleep but not in nREM. As for why sleepwalking occurs... well, we still don't really know.