why not use some kind of TECHNIC connection?
That's what I'm thinking... I've been looking around mecha hub for ideas.
I would suggest you rebuild to topmost part of the leg so it points upwards a bit like in the picture.
hopefully once I rethink these joints it will angle up a little more. I may end up having to rebuild the whole thing though.
make sure you really have strong legs
This is something I really did not take into consideration when I first designed the upper part of the leg. I was going more for cosmetics. Ever since I've been thinking on how to make them stronger.
Edit: Would you guys look down on me if I used glue?