A Biologically Inspired Approach to the Coordination of Hexapedal Gait 
(2007) Wait, K.W. and Goldfarb, M.

The accompanying video is an animated representation of a hexapedal robot created using data from the simulation described in the paper.  The ability of the walking algorithm to generate standard gaits while walking straight is highlighted.  Also, the algorithm is shown to be able to start and stop on command as well as to be able to follow curvilinear commanded body velocities.
