I'll take Blitzen's post first. I've developed a technique that I've been using for the past 7 mecha. They were very
roughly modeled around Orbital Frames (Zone of the Enders.) I've taken the liberty to move the cockpit higher than the crotch though.
That's a shot of how my white unit connects to the legs.
This shows how the cockpit connects to the torso (One of the pins is a 'loose' gray one and the other is a 'tight' black one. This allows the cockpit's window to open relatively easily.
This is the completed torso.
Darkwolf, while I admit that these things aren't the most... heavily armored vehicles, I find them visually appealing and rather easy to reproduce with most colors (Still shy on Purple.) I'd toyed with burying the pilot in the torso:
However, after building 4 models of this type I found the body rather breakable.
Piltogg, I'm not sure I'd refer to this as cheating, however it does makes them little better than mechanized Knights Kingdom action figures. Perhaps these are more to your liking:
Still, if you can find a better way to make something stand up and look vaguely humanoid, you're surrounded by people who will listen. (These joints also make battle damage easy to emulate)
Gallus and IVHorseman, those seem like rather fair ways to implement the wings, but getting terrain to be different enough to glide from, is rather a stretch. Still, It's hard to find a mech of any sort that can't fly, jump-jet, or jump large distances in a single bound.