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Abstract. In this paper we introduce and elaborate a biologically inspired methodology for robot walking gait pattern self-synchronization using ORCA (Organic Robot Control Architecture). The firefly based pulse coupled biological oscillator concept has been successfully applied for achieving self-organized synchronization of walking robot gait patterns by dynamically prolonging and shortening of robot's legs stance and swing phases. The results from the experiments done on our hexapod robot demonstrator show the practical usefulness of this biologically inspired approach for run-time self-synchronizing of walking robot gait pattern parameters.