I am making a hexapod project with my friend. There is a issue about its walking style. Generally tripod gait is formed as two steps: first move legs 1,3,5, then 2,4,6 which corresponds to moving one leg from one side and two legs from other side but the legs are located circular instead side by side. So, this situation makes us wondering if it would rotate or not instead of moving forward when the tripod gait is implemented.
Our robot's legs are like this one: https://www.youtube.com/watch?v=iPdRUbJcNzM
What kind of walking algorithm is suitable for that kind of robot?
Thanks in advance.