For this "resisting a push" problem, the best way I can think of to solve the problem is to create the smallest angle between the incoming force and the ground.
(click to enlarge)
The greater the angle between the force and the support (the ground) the more muscular force it will take to resist the force. By creating the smallest angle possible we will use less force from the muscles by aligning the skeletal structure.The skeletal structure will take more of the force, requiring less muscle, and taxing the muscular/energetic body less.
This example cannot be done from all angles at the same time. It uses muscular force and skeletal alignment to work.
I'm interested in hearing/seeing other examples of how this problem might be solved in an 'internal' way.