To gain your freedom of motion along with the knowledge of how you move, you can practice by yourself and with friends and family. For example, start from the push up position and move your body at that distance off the ground around your feet which stay at the same place and in each direction. Move your body around your hands which stay at the same direction and see what you come up with. Now place your middle on the ground (hips or behind) and move your body around this spot without having your feet or hands touching the ground. This is another way to find posibilities you already have. Once you do this, have a partner get in your way as you work and work by blending with his movement so you can survive and do the work.
You can add to this by having a partner move as he holds your feet or hands and you work on your movement as you blend with his.