Resources related to walking behaviors?

Hi,

I picked up robotic as a hobby a few months ago. I’m mostly interested in the challenge and research, rather than having a finished product.

I’m very interested in everything related to walking with 4+ legs but I’m starting from zero so I’m looking for recommendations: Name of algorithms to research, interesting research papers, …

Anything that could jumpstart my understanding of walking behaviors, the logic, the maths, the learning…

Thanks!