PLEASE HELP ME WITH THIS...

IN Short: I'd like help getting the proper general walking inputs for hinge rotators needed to make a functional 6 legged robot that functions as any real mechanical-robotics hexapod would so that I don't have to keep basically stealing others build designs to try figuring it out because I'm clearly getting nowhere with this.

Detailed Information: The Roll and Pitch combined is why I used pistons for rotational turning aka Y-axis turning using Roll because I can't seem to get any proper inputs for the hinge rotators at the base of each leg. But there's also been many other issues with it ever since I tried using 6 legs instead of 4 it just doesn't move the way that I want it to cause I don't know what to use for inputs on each hinge for walking and turning movements-functions, so far all I've really done is download and try copy-pasting inputs of any publicly posted mech like machines and as you can see this isn't doing what it would do if it were a real fully functional robotic hexapod, so I'm asking anyone who downloads or reads this please help me do what I clearly cannot currently do with this idea, help me in any way you can is all I ask whether it be sending me some hinge inputs needed for it through comments, or reposting a fixed version of it without the pistons, just anything that anyone seeing this can do or is willing to do that might help me with this I'd be greatful.