This chapter is concerned with programming the Central Pattern Generator, the CPG, of an omnidirectional six-legged robot which is called The Hexapod Robot, figure 11.1. The CPG will be programmed to walk the Hexapod Robot through the same figure-of-eight path that was used in preceding chapters for the Tricycle and Rickshaw Robots. Note that chapter 8 should be reviewed because this current chapter delves straight into programming walking gaits that walk the robot CW or CCW around an ICofR.