The insects? Six legs, and they have no trouble keeping them coordinated, even though they are so simple, compared to vertebrates. Add two sets of wings, too. And very adaptable. Ten million species.

And what about cephalopods? A small group, but highly advanced for invertebrates.

No, you can make some general statements, like it makes sense that all the senses will be concentrated at one end of the body, perhaps a head of sorts. Some kind of locomotion, some kind of manipulators, but after that all bets are off. Think of Pierson's Puppeteers, from the Niven novels. They would work.

I;m betting on centaurs, two for walking, two for light work, two for heavy lifting and running.