What exercises help to stop walking like a penguin

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The title says it all. What workouts can I do (on top of walking) that will help the penguin walk?

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Thanks Below, Cartman, and Pandemic. It sounds like squats and lateral/rear lifts are the way to go. My PT has had me doing those for a while but if that’s all there is I’ll just increase the frequency and see if I can’t fix this ridiculous waddle

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Thanks Cyborg, I’ll definitely add that to the repertoire. Ive been a bit hesitant to try those one legged balancing acts but perhaps with some balancing supports on either side JIC.