Have you slapped a gyro on your bipedal construction with no avail...

Does your mech struggle on hills...

Here is why.

We humans have teeny crystalline stones floating in our ear cavities that literally sink in response to gravity, telling us what's up and what's down. (Basically our gyro).

The walk usually starts with the feet at the extended position – where the feet are furthest apart. This is the point where the persons weight shifts to the forward foot.

As the weight of the body is transferred to the forward foot, the knee bends to absorb the shock. This is called the recoil position, and is the lowest point in the walk.

This is halfway through the first step. As the person moves forward, the knee straightens out and lifts the body it’s highest point. This is called the passing position because this is where the free foot passes the supporting leg.

As the human moves forward, the weight-bearing foot lifts off the ground at the heel, transmitting the force at the ball of the foot. This is where the body starts to fall forward. The free foot swings forward like a pendulum to catch the ground.

The free leg makes contact. This is exactly half the cycle. The second half is an exact mirror of the first. If it differs, the human may appear to limp.

In short. It’s all about weight distribution. Walking is a falling motion, and a SimplePlanes mech would need to move its center of mass forward. Then to the side for one leg. Then back, rinse and repeat for the other leg. None of this can fully be solved just by slapping a gyro on the CoM.

If you have a build that uses the technique of weight distribution, Link me it below!