Oh nice breadboard you got there. Impressive. Always nice to see more mechs.^^

Update: I stabilized it completely with gyroscopes, better PID and feet settings, and by tweaking walks cycle speed and such. Rock solid. It works almazing. 11m/s stable speed. Although, it still tips over when standing still. I think it would greatly benefit from a proper standing pose. I might be able to implement it by myself though though. Thank you!

I usually add a gyroscope inside my mechs to keep them stable both in the air and on land. If you ever get tired of it tipping over, just add a couple of spinblocks with weights, that respond to pitch yaw and roll

Okay, so when i've put it on the ground, it started freaking out and eventually fell due to PID and feet settings. Idk how it walks 19 m/s in your world, but once i somewhat stabilized it, it walks 8m/s, but feet phaze through the ground, so i lowered their rotation speed. Now it's stable, but walks like 5m/s. Still amazing. Have never done legs like this

Amazing. My mechs only walk like 5-10 m/s. Gonna test it now