Any advice on a gate for a simple servo quadroped


I was considering building a simple servo walking robot. The one below looks a good balance of strength, simplicity and print time. However with only 8 DOF it would not be simple to make it move. Unlike a hexapod you will not be able to lift any leg at any time. Only by shifting the balance onto the other three legs this could be done.

So has anyone got any experience of a gate that would work for such a simple bot? I have some ideas they will need testing. Its looks quite a hard problem but would be fun to tinker with.