Walking: The brain leads the body by one step.

Researchers have discovered that we most accurately hit targets when we see them 1 to 1.5 steps ahead of where we were. This is more difficult that it seems because we are making a plan, and at the same time we're making that plan, we're making a movement based on the stuff that we saw a second and half in the past.
Below this link, you will find our post on projecting and estimating steps. Much along the same lines but with a great video to set it up.

https://www.axios.com/when-walking-the-brain-leads-the-body-by-one-step-1513304440-3035f0bb-a992-403f-b084-51e4205cda58.html
https://thegaitguys.tumblr.com/post/44642195883/the-funny-problem-with-the-stairs-at-brooklyns