If the OP is able to visit San Francisco, California; I recommend a trip to Frank Oppenheimer's Exploratorium
https://www.exploratorium.edu/ .
Along with many fascinating exhibits including a rendition of Foucault's Pendulum demonstrating the Earth's rotation, you may find a small interactive model of the human torso, legs and feet. A visitor can study the sequence of nerves and muscles that produce bipedal walking by pressing a sequence of switches simulating the electro-chemical impulses from the brain. Anecdotally it appears that adult visitors tend to over and under control the sequence while young humans quickly master the non-intuitive series of electrical impulses required for smooth gait and (simulated) forward motion. A wireless "docent" explains the physics of bipedal motion.
If the OP still searches for models to simplify walking physics, consider using
thrust to model the motive force coupled with
torque to simplify the moment vectors through the human body. A more advanced walking model might include swinging arms and even head angle as center of gravity (COG) varies with gait and stance.
As suggested in an earlier post, abandoning the requirement for friction between the foot and ground to produce momentum, say on smooth ice, provides deeper understanding of how altering body COG and manipulating torque provides both forward and angular momentum. Examine limb movements of ice skaters, for example. Very low drag (friction) and controlled stance yields amazing motion. Going beyond simple COG to recognize moment arms, understand how a spinning skater alters their angular momentum by extending and contracting their limbs.
Isaac Asimov and other science writers have described bipedal walking as "controlled falling". There are studies available online where actors wear suits equipped with reflective devices ("dots") while performing various human motions such as walking, running, dancing, etc. within range of cameras and motion sensors.
