Bipedal Walking is a balance critical full body motion that demands fast controller response in order to maintain stability with the right steps at the right time. Aside from the complexity of the walking motion itself, sensor and actuation noise on real hardware combined with latency in the sensomotoric feedback loop make the computation of well placed footsteps a particularly challenging task. In this presentation, an inverted pendulum based method will be introduced that produces an omnidirectional walk with a good amount of stability for various disturbances. Footstep locations and step timing are computed efficiently in closed form. During the presentation you will be able to enjoy videos of a famous soccer robot defending its balance while being tortured in push experiments.