Centered support mechanism

What you're looking at is the central support structure for the mech I'm currently designing. What this is in a nutshell is a fixed-base assembly for the motor that will rotate the upper body and a mechanism that allows the body of the mech to extend upward and tilt in any direction while auto-adjusting to maintain a central balance point over the soon-to-be hip joints.

Essentially, it would simplify the job of maintaining balance over uneven terrain by only requiring gyro sensors in just the "pelvis".