OK great, I'll have a go , if I can achieve what you say, should be a cool little piece of tech, with the pelvis, box2d allows body parts to be a fixed angle, I done this intially so I could keep him up right, making him balance and walk without having the a fixed angle will be tricky, but I like the challenge.
Great to see the progress. You seem to be driving towards world space target angles, but using external forces rather than (or perhaps as well as) joint drives. That will make the motion look quite artificial - I guess the goal is to have the character moving naturally when he gets external interactions. The real challenge is to do it all with joint drives - and no cheat forces! That's what I/we do at NaturalMotion - in 3D that's pretty tricky, but in 2D it should be a lot easier (though still not easy!).
I am only using joint motors to move the limbs at the moement, no external forces, what do you mean by world space target angles, thanks for the reply as well, NaturalMotion looks like pretty cool tech too!
Also another video of smoother walking, looks more jerky then it actually is