need help knowing scientific models/tools required to balance the position of body parts of a walking mechanism of sorts(mostly legs and hands) in simulation/animation

like pictured, the walking mechanism tends to fail to balance the left and right parts and will unwantedly produce limping or wobbling... Are there models to minimize these problems? particularly just finding the right position of one parts relative to one another (or to the parent root body/center) so to produce the wanted 'cycles' and its variety.