You lean forward and your center of gravity passes the tipping point, which moves you out of metastable equilibrium. You take a step to move your support base back underneath your center of gravity, p...You lean forward and your center of gravity passes the tipping point, which moves you out of metastable equilibrium. You take a step to move your support base back underneath your center of gravity, putting you back into metastable equilibrium. When your foot doesn’t correctly move forward then you remain out of metastable equilibrium and fall over. Check you these AI simulations of creature that employ bipedal motion learning how to walk, and tripping along the way.
