Training a Quadruped Bot using reinforcement learning.

Ive been trying to train a quadruped bot using reinforcement learning, mostly tryna teach it to trot and stabilize by itself. Ive tried different policies like PPO, RecurrentPPO and SAC but the results have been disappointing. Im mainly having trouble creating a proper reward function which focuses on stability and trotting. Im fairly new to RL so im looking for some feedback here.