Hexabot Program and Build

can anyone give a tutorial on how to build and program a hexabot? cause im doing a project where im sending a robot into a cave where a human cant enter due to natures surprises. atm im using the VEX Robot parts and i am in the process and finishing a new tank design for what i can do and have in my hands. i want to build a hexapod body (not necessarily using the VEX parts but any) and help programing them. is anyone willing to do a tutorial on this? much appreciated.