How Can I Make A Bipedal Insect?

I've been conceptualizing a species of intelligent insects. They would have 6 limbs, they can fly, but they walk bipedally. I've been thinking of having them get down on all limbs of they need to go fast and can't fly away from something, but I do want them to be at least mostly bipedal.

Here's my problem though: I can't find anything relating to insects walking bipedally, and I don't know where I should look as far as anatomy I can adjust to work in this situation.

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How Can I Make A Bipedal Insect?

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