21 DOF Humanoid - IS THIS POSSIBLE?

(deleted)

Would you like us to write the program for your humanoid robot ?

(deleted)

There isn't any code yet ahah

I presume you mean:

ha ha. There isn't any code yet

21 x MG90S 9G (servo)

9G servos probably won't be strong enough to support your robot. You should research similar robots and see what size servos they use.