Insight/Asimo Transformer

This is my most ambitious project yet, and it kind of works! It's probably the last Honda-themed model I'm doing for a while.
I considered starting with the model of this car from the SketchUp warehouse, but ended up making my own from scratch with some minor detail changes I wanted. The car model is probably a bit less accurate than the SketchUp warehouse one, the ASIMO head is fairly accurate but the rest of robot mode only takes cues from that robot, as well as a few from Gipsy Danger. In car mode it's scaled to 1:24 to match Transformers Alternators/Binaltech.
I'm pretty satisfied with the way the model transforms, but it doesn't really stay in either mode. In car mode it tends to droop in places, while in robot mode the arms don't stay up and more importantly it only seems to be able to stand up unsupported if the legs are positioned in one very specific way. It took me 11 minutes to get it standing for the pictures, but it doesn't take quite as long if you're posing it at e