As far as nobody seem to help yet, i'll try to bring what i do know.

While making a 4-legged walker the code in legs joints needs to be made of trigonometric formulas with, for example sin(Time * Cycle Speed)* Your Input on front pair and cos(Time * Cycle Speed)* Your Input on rear.
Or
Codes may be equal for the opposite (in X way; LeftFront=RightRear and RightFront=LeftRear) legs.

While making a 6-legged walker we can:
1) Throw one the same code into 1 and 2 pairs and other on the 3rd one (1= sin(), 2=sin(), 3=cos() or the opposite 1=sin(), 2=cos(), 3=cos() );
2) Use same code on 1 and 3 pairs leaving 2nd with different code;
3) Make all pairs use one trig. function, may be messy and time-consuming, as we need to code every joint on legs to move in specific periods of function (lets say we making leg moving horizontally when sin() more than 0 and sin() less than 0.5 and then vertically on sin() more than 0.5 and sin() less than 1 )
Also:
Combined pairs of legs can be smaller in size and, if so, Cycle Speed in codes should be 1.25-2 times higher than on the pair that left alone

While making a 5-or-3-legged walker: it's simmilar to how we build ones with 6 legs or 4 legs, just a single leg should have a greater Cycle Speed in the code than the rest, in most cases.

8 legs or more, same principal to 4- and 6-legged walkers.

Personally i use sin(smooth(sum(ceil(Your Input)),clamp01(Your Input>0) ) * Cycle Speed ) * Restriction as a chassis for the codes, it allows to make a lot less twitchy movement thanks to sum and Restriction (especially with smooth()) pieces.

This game is not about mechanical builds, robots and walking machines so it is not so simple to make ones.
Anyway i suggest to search for examples.
Thats all for now. Have a good day.