Many robotics researchers are attempting to improve robotic locomotion, particularly in walking and flight. A clear advantage to modeling robot walking on insects is the ability to have efficient, real-time motion with minimal computational power (Donner, 1987) (Brooks, 1989). The ability for a robot to operate with less computational power whilst maintaining effective locomotion is especially key in small, autonomous hexapod robots that bear their own computational equipment (Angle and Brooks, 1990) (Ferrell, 1993). It has been confirmed by multiple studies that robot gaits based on biological schemes display “good responsiveness to gait perturbations caused by the environment (i.e. holes or objects in the robot’s path,” (Brooks, 1989) (Ferrell, 1993) (Cruse, 1994).