How do I make a walking physics ragdoll?

^ title

I don´t think there is a straight-forward answer for that. I guess you set up the ragdoll itself using (limited) revolute joints and then... tinker around with it?

You´ll have to apply forces to the limbs then in a specific way as to create anything that resembles a walk. You probably also can apply an upwards force to the head to counteract gravity so the creature doesn´t constantly topple over. Other than that... I might give it a try, it sounds kinda fun to figure out.

I did give it a try and I got something that works pretty well. It can even go up slopes, pretty fun actually to "teach" it to walk. It´s not perfect, if something topples it over hard enough it will end up just sort of wiggling around on the floor.

wackytoaster.at/parachute/ragdollWalker.c3p