Every single body and thus the athletes themselves, is made up of individual components each of which has its own weight. So our weight is just the sum of individual weights, of components such as our arms, legs, etc. The point, about which the distribution of these individual weights is symmetrical, is the center of gravity of the body. Thus, if a body has more mass distributed in its upper part, the center of gravity will be closer to the top of the body. This applies to humans, as the center of gravity of an average person is located approximately at a height of one meter, thus being above the waist
The truly ingenious leap (!) in the technique was that by clearing the bar with his back and by changing the shape of his body, the athlete could clear the bar without his center of gravity having to also clear it. By this change in body shape he was able to move his center of gravity outside his body. The energy required for a jump depends on the maximum height of the center of gravity and so by lowering its position one also lowers the energy required to clear the bar