Special attention has been paid to equilibrium control during locomotion. As soon as locomotion starts, stabi- lization of the hip in the frontal plane with respect to space is observed [91*,92]. After two months of walk- ing experience, stabilization of the shoulders improves. This suggest that a hip-centered temporal organization of balance control occurs while walking. Long-term mat- uration of locomotor balance has also been investigated. During the first stage (3-6 years), the head is stabilized on the trunk whenever constraints makes equilibrium difficult. By 7-8 years, the head is also stabilized in space during locomotion when facing equilibrium constraints. Adults use similar stabilization of the head in the frontal plane while walking on a narrow support (see [85]).