Meet the Stubby the Hexapod v3: a robot with 3 degrees of freedom per leg. It uses a full inverse kinematic engine to calculate leg positioning. The robot can walk in any direction, rotate, and move/rotate at the same time. You can speed up its movements and more. Its universal controller is made up of an old PS2 controller. The robot also handles XYZ body translation and XYZ body rotation.
What makes this robot special is the fact that it is well document. You can find out more about it on Hackaday.