Pilgrim is the one walking round town. it is based on the Theo system but with some changes the obvious one is it has 8 legs Theo has minimum of 12 so the gait had to be re-designed big time, can't go into it now.
yes the Klaan system for the Spiderbot I don't like the gait as much as Pilgrim as it tends to bounce the robot when Spiderbot walks fast.