I just watched the vid Carsten pointed out. Endo is not showing any technique here, but more the flexibility your have, the freedom of movement you still possess, when your feet do not move. It is what we work on to develop and I guess Carsten does too. Move feet only when necessary (when for example ma ai no longer matches what we are trying to achieve with the technique).
Perhaps this can convey a little the way we work...
http://www.youtube.com/watch?v=5uI-f...eature=related