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I now either ensure at least one foot is WELL secured (such as sunk slightly into the base material to give more hold and then hide this with terrain) or I try to have some part of the body touch a terrain element for another contact point.
Very nicely said. It is important to try and make the miniature as secure as possible, one thing I failed to mention above was that when placing the miniature onto the base without the 'tab', I always used the 'Hot Putty' technique.
If you do not know what Hot Putty is, you prepare a very small piece of Green Stuff, place on the foot/feet of the miniature, then apply Super Glue Gel (I never use just plain Super Glue), quickly use a modelling tool/toothpick or anything you can manipulate the 2 substances with and mix the together and press the miniature into place.
With regards to 'Pinning'. This sounds much more daunting than it actually is. The key is to have the right tool...
I use a Dremel, but the most common is a 'Pin Vice'
The key to both is finding suitable metal rod to use as a pin.
The cheapest and easiest to acquire is cutting a piece of metal from a paper clip.
The most important part of this, is the angle of which you drill your hole into the miniature, to ensure you do not cut through the miniature itself...
Insert the pin after coating it with Super Glue into the miniature and leave to dry/set.
Once this is done, create your scenic base and line up the miniature on the base so can assess where you need to drill a hole for the pin to fit (again, understanding the angle of the pin is essential).