The Intuition for many people when looking to guidance on their own in demanding yoga postures is usually to "lock" or hyperextend their joints. Locking your joints is not hard and results in steadiness without the need of recruiting any of the musculature across the joints, As outlined by Kaminoff. https://www.takeyearsaway.com/yoga_and_aging_benefits/Yoga%20Poses%20for%20Boosting%20Collagen%20Production/i_did_the_downward_dog_exercise_every_day_for_a_month,_here_is_what_happened_to_my_core_strength_and_also_stability.html