Can you remain balanced if your CG passes in front of your toes? I'm looking at the physics of walking. It's described as a controlled fall for good reason.
What I'm interested in is whether you can recover from the following situation. You have one foot on the ground (let's say it's your left), and one foot (right) is in the air moving forward. You make a decision that you cannot step down with your right foot (perhaps there was a scorpion where you intended to place it). However, at this point in time, you have a forward velocity and your CG happens to already be in front of your left toe. Is there a way to recover such that you can return to a stable balancing position on your left foot without hopping?
I know for a simple rigid body this is impossible. Once the CG is in front of the contact patch, the simple rigid body will tip over. I'm less certain this is true for a human body because we have so many ways to regain our balance. I can't tell if there is a clever way we can move such that we can arrest our forward momentum (probably using friction with the ground) and return the CG to a stable position above the left foot.