I haven't written any code yet. I have been too busy building it and still need to assemble 3 other legs.
That's a major ouch.
Suppose each leg had a set of cams to open/close switches in a leg and make it walk? Then you could send a signal to start/stop the cams and reduce the amount of code. With enough of that, you could run it off driver hand controls.
Otherwise you need a programmer who wants to spend major time just getting to to know the hardware before trying to remotely code and debug the thing. Both of your communications skills and patience will be tested along the way.
I would add springs to the legs to help them stay up. It should stand about half crouch with you in the seat just on the springs, less trouble lifting a foot than raising up on it but closer balanced than with no springs.