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Engine is Stepper5 field in <MoveenStepper5> component. It contains most of the settings related to gait style.
Center Of Gravity, -1 - bottom, 1 - head
Rotate around Center Of Gravity
Push force to compensate Center Of Gravity
Body helps steps length, or opposes rotation (-1 - clumsy, +1 - agile)
Hip flexibility relatively to the body
Hip position relative to the body (TODO refactor)
Force to move body up-down with steps
0.5 - lower body between lands, 1 - no lowering, 1.5 - higher between lands (unnatural)
Logical right leg to calculate gait (even for multipeds)
Logical left leg to calculate gait (even for multipeds)
Height of foot base
Minimal leg stepping speed
Leg stepping speed X body speed dependency
Pause between leg decided to step, and it actually ups (0 for very light walk, 0.2 and more to add more weight)
Step height is important thing to tune. From the one end, you don't want your model to walk like a heron.
From the other - it doesn't supposed to cling to any ledge. You can tune it with two parameters Undock Initial Strength and Undock Time.