You will learn Grasshopper, er, I mean Mantis!
Hahaha! I'll try my best!
The problem with the walking is that when I try to make it walk by lifting one leg at a time, it doesn't keep it's balance and topples forwards/backwards (depending on which leg is lifted) - that is why I try to make it complete the walking gait quite fast because it doesn't have anytime to fall over.
Anyway, thanks to Innerbreed's post earlier in the topic, I'll just use the arms as the front two "legs" and then make it into a hexapod which should make the balancing/walking so much better.
At least the weekend's not that far away so I can get to grips with the Phoenix code.