I used ControlNet to make centaurs 

parameters

a centaur, cute face, detailed elegant eyes, (cyber mecha:0.4) joints, masterpiece, highres, highly detailed, best quality, original. beautiful mountainous prairie background , (flowers:1)
Negative prompt: poorly drawn, logo, signature, text, logo, watermark, (depth of field:1.2), (worst quality, low quality:1.4), wings, grainy, pointillism, topless, mane, hands, legs, riding, herd, long hair, saddle, crowd, winter
Steps: 20, Sampler: DPM++ SDE Karras, CFG scale: 7, Seed: 291305783, Size: 960×512, Model hash: fb44463063, Model: darkSushiMixMix_darkerPruned, Denoising strength: 0.4, Clip skip: 2, ENSD: 31337, ControlNet 0 Enabled: True, ControlNet 0 Preprocessor: none, ControlNet 0 Model: control_v11p_sd15_openpose [cab727d4], ControlNet 0 Weight: 1, ControlNet 0 Starting Step: 0, ControlNet 0 Ending Step: 1, ControlNet 0 Resize Mode: Resize and Fill, ControlNet 0 Pixel Perfect: False, ControlNet 0 Control Mode: ControlNet is more important, ControlNet 0 Preprocessor Parameters: “(512, 64, 64)”, Hires upscale: 2, Hires upscaler: 4x-UltraSharp