None of this is actual physics. Nothing's center of gravity "keeps it perfectly balanced." An object may be angularly stationary if, for example, the reactive force to gravity acts through the center of gravity (a zero-length moment arm), and there are no other moments to accommodate. The location of the center of gravity is one parameter to an angular stability problem, but it is not something that, by itself, guarantees or generates angular stability or instability.
Bipedal locomotion is a metastable state of constantly moving the center of gravity forward from the locus of the reactive force and generating a forward pitch moment. Then it changes the locus of the reactive force (i.e., which foot is bearing the weight) to convert the pitch moment into forward motion. If you lose your footing, then the state stops being metastable and becomes unstable; there is an uncorrected pitch moment and you might fall.
Please stop trying to teach people physics. You don't have the faintest idea what you're talking about. You're just throwing words around that you may have vaguely remembered from your "five years of physics" as a child. But you aren't fooling anyone into thinking you actually have something to teach others.