More of an informal video than a tutorial.
Controls for the legs are RV for left leg and YB for right leg, sort of like 2 levers you pull an push.
Change it to whatever you desire though, cause it's more suited for me than others.

(Songs used)
KingJamBeatz - Godzilla'Z Rapbeat
(    • Hip Hop Beat - Godzilla'Z Rapbeat Pro...   )

TokyoMachine - Blast (Monstercat Release)
(    • Tokyo Machine - BLAST [Monstercat Rel...   )

Armored core 4 (Soundtrack #1: Overture)