Automatic Balance in the Face of Motion

I've been thinking of a neato (hypothetical) controller that would be automate the balance shifts that should occur when animating. Consider two animations, the classic walk cycle and a wave action. IRL, the walk motion should be affected by the wave in that the balance is slightly shifted, and likewise the wave is affected when walking because the hand should swing around during balance.
This would then be in the province of the RT animation blender-- to dynamically shift the body, slightly, in order to maintain balance.

Random thought: some fun could definitly be had by giving the skeleton a cane or crutches and seeing what motion emerged.

Some (as yet unread) references:

• G. Taga, 1997, A Model of Integration of Posture and Locomotion, Proceedings of International Symposium on Computer Simulation in Biomechanics.
• A. Kun and W. T. Miller, III, Adaptive Dynamic Balance of a Biped Robot using Neural Networks. Proc. IEEE Int. Conf. on RA, pp. 240--245, 1996
• Kun A. L., Miller W. T. (1997), Adaptive Static Balance of a Biped Robot Using Neural Networks, Proc. of the Int.
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