[ODE] Character Walking through ODE

[Dave Kerr]

Has anyone solved the problem of walking a character through ODE space?

I have read through the ODE list but havent seen the solution.

The character could be represented as a pill shape geom.
It must stand upright on any surface, but also be able to be affected by 
other bodies.
I read that we could apply angular forces to keep the pill standing 
straight.
What is a good way to do that?

cheers
dave