Niteowl explains his theory about the gravity in 'Only Hyoo-Mun' (which, incidentally, is the greatest Oddworld fanfic ever... read it if you haven't already done so):
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Another strange thing about Oddworld; its sheer size suggested that its gravity should have crushed the humans on arrival, but it was fairly comfortable. Evidently, there was an element here that canceled out some of the gravity. Perhaps it was the same element the Jarrek and his friends had salvaged from the old security orbs to build the hovertrucks and skybikes.
There did not seem to be a lot of seismic activity on this planet. The precarious architecture he'd seen wouldn't have survived otherwise.
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