I am using vPython to simulate the actions for my Spider robot. That will easy to develop your own interest actions in pc/mac, and then port to arduino.
There is the real robot instructable if you are interested in it
VPython is the Python programming language plus a 3D graphics module called "visual" originated by David Scherer in 2000. VPython makes it easy to create navigable 3D displays and animations, even for those with limited programming experience. Because it is based on Python, it also has much to offer for experienced programmers and researchers.
Step 1: Install VPython and Editor
install python，I suggest using 2.7.x
and then vpython
and, my favorite editor - PyCharm
Step 2: Download the Code and Run
Download the code and open it with PyCharm, run the code and you will see a fancy 3D spider robot on the screen, and you can use the mouse with the middle button to zoom in/out, the right button to rotate.
Step 3: Develop Your Actions Into This Simulator
It will be fun if you can develop more interesting actions and share to me.
Step 4: Remote Control to the Real Spider Robot
How about control the real robot by python thought bluetooth?
you may already want to try the way.
I will post it later if someone need it.