Where's this "preprogrammed" meme coming from? Everything in robotics is still "preprogrammed". Later builds of ASIMO did have dynamic balancing and in fact ran with both feet in the air.
It's not like they just hit the precalculated coordinates on the floor with the feet, they used gyros and hand-written algorithms to compute all the forces in real time, just like today those Unitree bots do with GPU trained algorithms. They're fundamentally the same. Very little had changed.
Who's making up that hallucination? This isn't even the second time I've come across those "preprogrammed" BS.
Asimo was a dead end. Preprogrammed/precalculated static balance, that uncanny 'Im holding a surprise in my diaper' walk.