the mother lowered her head, avoiding eye contact.

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Maybo

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When townspeople walked past, the mother lowered her head, avoiding eye contact.
(The Magic Strings of Frankie Presto by Mitch Albom)

Why is the second comma needed?
 
It marks a natural slight pause in speech.
 
If the second comma is removed, is the sentence still grammatical?
 
You need the comma there to set off the participle clause, as teechar has said.
Original: the mother lowered her head, while she was avoiding eye contact.
Participle: the mother lowered her head, avoiding eye contact.

Have I understood it correctly?
 
That is not natural.
I’m learning participles. I’ve found an explanation from the website:

We can use participle clauses when the participle and the verb in the main clause have the same subject. For example,

Waiting for Ellie, I made some tea.(While I was waiting for Ellie, I made some tea.)

I’d like to know if the sentence from the book matches the above explanation.
 
Yes, the mother lowered her head and the mother avoided eye contact.
 
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