It's not really a hexapod, well it has six legs, but only four are really legs... Depends on how you look at it
this robot only uses 4 actuators! that's great...
I think it's also possible with only three actuators, the middle legs can move seperatly now, maybe attach them to eachother so they are one upsidedown U shaped thingy.
And let one servo move that.
position 1: keep both sides up (center the servo)
position 2:left side down
position 3:right side down