I spent a lot of credits on this, and it still didn't manage to get the hip and knee on the right side quite right. I made some more versions of this that fixed the knee, but they don't have a lot of the other details from this version that I like, so it still needs work. (EDIT: Qwen Image Edit fixed it.)
Out of all the mech designs I've made on NC, this is the design that I think is the most realistic. It also happens to look really cool. If it were to be built for real, it would most likely wheel itself around on whegs most of the time instead of walking. But its overall leg structure would look like this. People make a lot out of a mech's ability to walk, but driving is always going to be faster than walking. That's why we invented cars.