The the only problem with the average centaur costume is that the back end just seems so “weightless”. Like it has no mass to it at all. And those legs! Just flopping around like a marionette. It’s not just you. It seems to be a regular problem with costumes with moving legs. It’s either that or the ‘stiff as a table’ type legs.
I am nocostume expert. Though think adding a bit of weight at the back of the horse (more or less where the back legs join), might help sell the effect. All I see is the rear end lifting up and the hooves 'tip toeing'.
I really think I have a much better Centaur design...instead of standing as the front legs, mine is completely mechanical with all four legs walking correctly. The operator is in a kneeling position with their upper legs harnessed in for support. The mechanics of the Centaur work on bicycle principles...your shins and feet are in separate cradles connected to pedals...as you pedal, each of the four legs would lift and move forward in succession. A harness around your waist is connected to two rods which are connected to each side of the pivoting rear hips of the legs allowing for steering . The design is sound but would have to take a bit to get used to, since you are at horse height and not touching the ground. It would be intimidating to see walking towards you .
I have the actual horse skeleton measurements found on line...the skeleton would be made of a strong wood for the rib cage and aluminum for all the rest of the structure...the muscles and skin would be created by someone on puppetry. It would be great for festivals or comicon
Only thing I’m lacking for the Centaur Project is funding...so it’s on the back shelf...if anyone wants to fund the Project I guess I could one for you...I would not have a place to keep it.
I wonder if you enlarge these and put small stilts on your legs about knee height and build a body you can use your shins and feet to fill out the body a little more make it more realistic might be challenging to walk but would be interesting to try man I wish I had the time and skillset to put these ideas to practice your so lucky man