For large bipedals you're going to want to build one leg from the ground up, dry fitting with the hip and other leg to make sure it's going to work for the pose you want...once you have the first leg attached to the hip, build the second leg from the ground up also. This is what I've done for my warhound titans and it works like a charm.
Just remember to dry fit about a dozen times to be sure, before you secure anything in place.
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