A lot of that wobbling could be fixed with hips that moved like a human's does. Sure, it's working its center of balance to be over a foot at any given time. But, you could do that more efficiently with a waist-ball set-up almost reminiscent of the 3.5" GI Joe figures.
The human hip bone isn't rigidly horizontal. It can rotate each side along the vertical and forward-backward lateral on each extreme, as well. That's the case in a lot of endoskeletal structures.
I've dabbled in hand-rendered animation, and I've had to pay attention to this for things to look 'natural'.
Give it time. They'll eventually get it right.