Algodoo

I've been trying to make this work for a while now, and although it's ugly and doesn't work half as well as the Raunit worked, there may be a lot of room for improvement.
Edit: seriously improved. Updates faster, uses related rotational damping tricks to improve performance.

Updated again. Responds faster now and uses somewhat less shaky secondary stabilization.

Third update: Even faster response, less processing power for about the same shakiness and stabilization level, put it on my favorite old walker that got disabled after Raunits stopped working, and added a mini-course. Looks pretty fancy now.
Tested as a phunlet, and that doesn't work unfortunately. You'd have to manually declare the variables it uses. Also cannot be cloned without reworking the scripts.