Alright, I made a small image to show you what i was talking about. Now I personally love the sitting postion as the walking position.. like instead of being a normal robot.. why not have a different walking style. But the center of balance has to be reasonable. So i say take the whole upper body down the the stomache, and rotate it 20 degrees or so foreward, like it shows in the image. OR you could rotate it 20 degrees foreward, then at the top of the stomache, rotate everything again up back to 90 degrees.. look at the image .