Hi Bruce, aside from practice, practice and practice, but I'd also spend time in the gym doing balance work and leg work. The better you can slowly step down or up stairs under load the better you'll be in tricky situations with a gimbal. Foot and ankle strength are also key, I'd recommend getting a foam balance pad like this: https://amzn.to/3MgDYqT and doing a routine like this https://www.youtube.com/watch?v=j6S2hjMUPxg . You have to start from the feet and work your way up, I'd also emphasis core and back work. Planks, dead lifts, squats etc. The stronger you are the lighter and more controllable the gimbal will feel. 

When it comes to the actual foot work itself you need to find what works for you. But for a smooth forward walk i'll often times reach my foot out and strike the outside of my foot first by the pinky toe, then roll the foot flat and repeat. As opposed to striking with all toes at once. Hope that helps!