The ultimate WHEEL

Hm maybe the legs could be 2 muscles to control orientation too instead of just length and repeat that and slap a neural net over it and youve got yourself an interactive creature

At first it looks like mangle from fnaf but now it's just a flamingo

Dude... It's not a human

Keep in mind this is not an animal from the menu

Disconnect the legs from the human one, then it gets much more realistic