Didn’t Miss a Beat
Complete Balrog without falling
If you fall, quit to the main menu and continue your game from there. You have to replay a very short portion and get another chance to get the Achievement / Trophy.
Use Double Jump and your Plasma Catapult (RB / R1) often and make sure that you can make the jump before taking it. Snipers and the Big Robots can knock you off. Try to avoid the Robots completely and jump over them since it’s more dangerous to fight them and get thrown off in the process.