So yeah, i have a pretty heavy unit, whose legs tend to collapse regularily when
walking. So i was wondering, is it possible to make legs more stiff without ruining
their ability to bend? JointStiffness doesn't seem to work...

Make sure that your actor's push force (found at the bottom of each walkpath sequence) is strong enough to hold the actor's weight. I'm not not sure that may be what's wrong, but try it out.

Thanks, it worked. Now i just need to figure out how to make it not rape the terrain

The only way to make the actor not pulverize terrain is to make the unit lighter, or the terrain stronger.

Ah, thanks. I guess that i could also reduce terrain smashing by making it
so that the pushforce isn't overkill.
But that was just about it, so mods, please close this thread...