What I found was that it always kept 4 feet planted on the ground. Insects typically have 3 in contact with the ground and the other 3 propelling it. 3 is the minimum required for static stability, so insects with this gait are always statically stable. This machine seems to have been optimized for stability. It would be interesting to know whether it has a fixed gait or dynamically decides on which leg(s) to move based on its orientation, velocity and acceleration.