The 'extrapolated center of mass' concept suggests a simple control of balance in walking.

By A. Hof. Human Movement Science, 2008

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Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid (2012, methodology): “[13]–[15] and named the Extrapolated Center of Mass.”
Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion (2015, background): “Personal use is permitted, but republication/redistribution requires IEEE permission.”
Assessing the stability of human locomotion: a review of current measures (2013, methodology): “Hof [158] showed that, for stable walking, the feet should be placed lateral and posterior to the XCoM, and that a deviation of the state of the CoM due to a perturbation can be compensated for by a change in foot position, which can be expressed in terms of the XCoM times a constant.”
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models (2011, methodology): “2007) and was also found to be a good predictor of stable foot placement locations in the analysis of human walking (Townsend 1985; Hof 2008; Millard et al. 2009; Hof et al. 2010).”