According to "Asana Pranayama Mudra Bandha "  balancing asanas help develop the functions of the cerebellum, the part of the brain that controls how the body works in motion.  Balancing asanas improve muscle coordination and posture, improving physical and nervous balance, and stilling unconscious movement.  This conserves energy and and achieves grace and fluidity of motion. The focus required to perform these asanas with steadiness develops concentration and balance at the emotional, mental and psychic levels, removing stress and anxiety.