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.