The human skeleton can easily be aligned in a manner that works constructively with gravity.
Gravity is useful.
Rather than fight against gravity or crumple, we want our bodies to feel light, mobile and strong.

We want to transfer body weight when we interact with a partner/opponent.
Relaxed muscles are heavier than tense ones.
Relaxed joints enable the body to sink and settle; thus creating more stability and an increased ability to transmit power through the entirety of the body.