Just getting back into this I refreshed my memory on this recently.

Everything Nerd said is just the way I just did it to set
up a stickman just a couple of days ago. Nerd's one of the best!

A lot of people still use phi builder to set rotation order in P4, but I think you can avoid using it by using the heirarchy editor and including the parameter dials and setting the rotation order that way when you set the heirarchy.

Page 319 of the P4 manual has the names as they appear in a hierarchy (with a std rotation order)but with six legs you'll have to rename them anyway and you'll have to play with the rotation order some. BTW that's how he came out without messing with the joint parameters. (He's gonna be called Luke StickWalker when hes done)