Four robot feet can be used as single legs instead of couples looping the following possible sequence (see robot scheme above):

• 1 3 2 4 2 3

This sequence is symmetrical for balancing. When one foot moves, the other three remain in place.

Considering the redundancy maintained, the four legs can be reduced to three, and the following sequence looped:

• 1 2 3 2

Leg n. 2, will tear faster.