How can I do the simulation and mechanical analysis of the tripod gait of a hexapod robot?

As above, I am making a hexapod robot (each leg has 3 DOF) to walk with tripod gait. The robot is controlled by arduino. I would like to do the tripod gait simulation and analysis, so as to obtain a smooth locomotion and walking steps.

Could anyone help? Please!

[Wing Yan LEE]

https://www.youtube.com/watch?v=qTGvXV6eemw

just like the above clip. As a student, this is my first time to use Matlab. Please help! Thank you!