Humans achieve this balance primarily through inner ears. Our inner ear has three, semi-circular fluid-filled canals that are sensitive to movement and gravity. Fine hairs in the canals send out signals to indicate the direction and speed of head movements. The arrangement of the canals gives three-dimensional sensing for balance.
Apes’ semicircular canals differ from humans so much so that apes would not be able to walk upright as humans do! When examining the fossil record, no transitional fossils of semicircular canals have ever been found.
In conclusion, man was made to walk upright and apes were made to walk on all fours.
(Source: Inspired Evidence- Stuart Burgess, The origin of man: The image of an ape or the image of God, 2004 pp.31-33)