GoForSmoke:
1 motor doesn't have to move the legs on just one side.
The implication of that (in the context of just 2 motors) is that (for example) a RH leg and 2 LH legs will always move together.
GoForSmoke:
If 2 motors move 2 legs on one side and 1 on the other, running 1 motor faster than the other will make the bot turn.
I remain to be convinced. One mode of 6 legged walking is when one leg or 2 legs (but never 3) on one side is carrying the weight. I don't see how moving the 2 legs faster than the one leg can make any difference to the amount of movement unless you are relying on the one leg slipping more than the 2 legs.
I just downloaded the video so I could watch it in slow motion using VLC and it seems to turn in some cases by only moving the legs on one side.
...R