Yes indeed, balance is the most important thing and then there is the whole "body" factor, it may not seem like it but it takes some strength to lurch well although its just as important as balance and technique.
Hmm, I'm getting there, I'll see if I upgrade the pedals (maybe some cheap Azonic Magnesium) on my bike tomorrow to get a little more grip (these crappy ones, although light, are butt ugly and grip like ****).