Best way to go about creating a 4 legged walker?

I want to make a 6 legged walking mech type thing. I’m not sure how to approach this problem and any help would be appreciated. Currently, I’m thinking about using some sort of IK for the legs, but I’m not sure what the

most important: best way to move the body of the walker would be

I don’t want the walker body to stay flat, I want it to move with the terrain the walker walks on. I also want players to stay in place on the platforms which I’m struggling with.

Image for reference:
Screenshot 2024-12-14 at 8.53.46 PM

I don’t know the first thing about animation, but I recently seen this video, so if you’re interested, you can check it out as well :D