the true kungfu of Centering and dynamic rooting has to be cultivate after one attain the walking sleep state.
in general, what is present as COG power today has never left the domain of using force against force which is mention in the classical chinese internal art script.
btw in advance chinese internal art, the real balance and rooting is the balance and rooting of consciousness. and that mean, one needs to be able to quiet one's mind to get there. as it said -- comes accept....using silence to manage action. silence is the real cog. when the mind quiet the body become alive beyond imagination....
thus i have heard