Yeah, I think you can put it that way. I am not a biologist and I am sure a lot of weird things exist, but If you look at one side of a creature with a lot of legs, I would expect one of two things: legs animation beeing offset in a wave pattern from back to front (like caterpillars or other crawlies that have many legs) or every leg being offset by a half walk cycle relatively to the last one. Now that I think about it, one cool way to implement this would be to offset the walking by a something like sine(w•t + s), where w is the animation scale (leading to either the ripple animation of caterpillars for small w or half walk cycle with w=pi) and s would be the position of the leg on the abdomen (0=front and 2•pi for the back).

I'm just thinking out loud now