I've now managed to make the AT-ST walk for alittle bit before compltely faceplanting into the ground.

"The All Terrain Scout Transport (AT-ST), also known as the chicken walker for its two-legged design, was a bipedal walker used by the Galactic Republic during the late Clone Wars and, later and more extensively, by the Galactic Empire during the Galactic Civil War. It was a successor of the AT-XT."-starwars.wikia

After awhile of messing around with it, I have finally(somewhat) completed this AT-ST. I added a little Ewok catapult-thingy to destroy the AT-ST. I was able to make the upper body turn(via yaw).

Pls feel free to rate and comment.