Thanks Kenny (and Carpet Hack) for the great info. I´m a civil engineer by trade. I understand what you´re saying about keeping the feet underneath. As I read your posting, i could really picture it and feel it. The best sense of balance is when the body is in a verticle straight line. Bend any part so as to protrude part of it in any direction (without compensation in the opposite direction), the body would become prone to jerks at the slightest "tilt". For good balance, I can see if the upper legs are bent forward, the lower legs should be bent backward. Maybe i should try riding a horse with my legs out in front on either side just to see how it truly feels (LoL).
The bike I used at the MSF course was, I believe, a GS350. All the others were in the same cc range but more upright. Now that I think of it, the instructor told ME specifically to be sure and ride with my knees bent.