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Adjective: surefooted
  1. Not liable to stumble or fall
    "on surefooted donkeys";
    - sure-footed, footsure
     
  2. Not liable to error in judgment or action
    "most surefooted of the statesmen who dealt with the depression"; "demonstrates a surefooted storytelling talent";
    - confident, sure-footed

See also: capable, steady