BTW, it is very nice, but it looks strange. I dont see how it can walk with only 4 paws.
Why not? Any pose which got the center of mass projected to earth within the polygon made by connecting outer contact points is statically stable.
Thats's why we've got a long feet whose backsides are as back down as our shoulders -- to provide a stable standing pose.
With this bot, statically stable walking seems pretty much simple: for each leg, shift balance a bit so COM is inside the triangle made by other 3 legs, move that leg to the new position, repeat with the next leg.