diff --git a/scripts/mech_skeleton_modifier.gd b/scripts/mech_skeleton_modifier.gd
index 2def919..1ed9c51 100644
--- a/scripts/mech_skeleton_modifier.gd
+++ b/scripts/mech_skeleton_modifier.gd
@@ -6,9 +6,12 @@ class_name MechSkeletonModifier extends SkeletonModifier3D
 @export var _ankle_bone_r: String = "Ankle_R"
 @export var _leg_ik_target_r: Node3D
 
+@export var _feet_stretch_pelvis_lowering_factor: float = 0.3
+
 var _skeleton: Skeleton3D
 
 var _pelvis_rest_y: float
+var _feet_rest_distance: float
 
 
 func _ready() -> void:
@@ -23,6 +26,7 @@ func _ready() -> void:
 	_pelvis_rest_y = (
 		pelvis_rest.origin.y - (ankle_rest_l.origin.y + ankle_rest_r.origin.y) / 2
 	)
+	_feet_rest_distance = ankle_rest_l.origin.distance_to(ankle_rest_r.origin)
 
 
 func _process_modification() -> void:
@@ -38,5 +42,13 @@ func _process_modification() -> void:
 	var pelvis_pos := (leg_target_pos_l + leg_target_pos_r) / 2
 	pelvis_pos.y = minf(leg_target_pos_l.y, leg_target_pos_r.y) + _pelvis_rest_y
 
+	var feet_distance := (leg_target_pos_l * Vector3(1, 0, 1)).distance_to(
+		leg_target_pos_r * Vector3(1, 0, 1)
+	)
+	var feet_stretch_pelvis_lowering := (
+		(feet_distance - _feet_rest_distance) * _feet_stretch_pelvis_lowering_factor
+	)
+	pelvis_pos.y -= clampf(feet_stretch_pelvis_lowering, 0, _pelvis_rest_y)
+
 	pelvis_bone_pose.origin = pelvis_pos
 	_skeleton.set_bone_global_pose(pelvis_bone, pelvis_bone_pose)