[davidthefat]

Originally Posted by apalrd

I don't think as many motors as you think (18) are necessary.

I see it being done with as few as 4:

You have 3 points of contact with the ground at all times. 6 legs.

You would raise 3 legs, move them forward, drop them, raise the other three, and while moving them forward, move the 3 down back.

2 joints per leg, but there are really 2 sets of 3 that move together, so at least 4 joints that are independently controlled.

I don't see you being able to turn with only 4, so I propose 6 + pneumatics:
Raise/lower with pneumatics. Move each with a motor (CIM or FP). The legs are either up or down, but you can vary the forward movement of each leg to turn in an arc.

1 leg is the bare minimum, but you need MIT status skills to pull that off, well the easiest is the 6 legged, then 4 then 3, then 2 then 1, thats what I would assume the order is