active ragdoll movement

[patent ingot]

Im trying to recreate this active ragdoll movement from this YouTube video: https://www.youtube.com/watch?v=Xj_uT7T-XxU&ab_channel=kbit
he is using config joints and slerp drive rotation mode, I setup the active ragdoll and I gave each joint position spring value position damper value, and maximum force. so the active ragdoll trys to rotate to the correct rotation. but now Im trying to recreate the movement, I was going to have a different rig that has animation and just set the rotation of the joints to match the animation but I don't want to have a set animation I want each leg to move properly.
I started by just ping pong moving the value of the rotation of the legs on the x-axis from -40 to 40 which would move the legs back and forth, and then I wanted to add a quadratic equation that takes the leg rotation as an input and the output is for the knee rotation so when the legs are at 40 or -40 the knees are fully extended and if the legs are at 0 the knees are fully bent, and then I realized that's not how legs work. what's the best approach to procedurally animate legs similar to what he is doing in the video?

[west schooner]

could you clarify the question

[patent ingot]

whats the best way to animate the legs with code and not animation

[sour drift]

Fisrt.. you have to "sepearate" legs from charakter and then program movement...