This paper describes how the SGOCE paradigm has been used to evolve developmental programs capable of generating recurrent neural networks that control the behavior of simulated insects. This paradigm is characterized by an encoding scheme, an evolutionary algorithm, syntactic constraints, and an incremental strategy that are described in turn. The additional use of an insect model equipped with six legs and two antennae made it possible to generate control modules that allowed it to successively add gradient-following and obstacle-avoidance capacities to walking behavior. The advantages of this evolutionary approach, together with directions for future work, are discussed.