Originally my code did that, like making a stop motion animation, but what happens when you hit an incline? The answer simply is that it stops working. That's why I translated real world Inverse Kinematic Algorithm Functions into code for the Arduino, and I spent a month after perfecting it. The codes function is to predict all of the positions the servos need to be in at the exact time they should be.
Now if the IMU(not implemented yet) says that you have reached an incline, instead of having to rework all of the servo pulses(a nightmare that I've dealt with before) the robot can self-modify it's X, Y, and Z values to angle it's feet. It would be almost impossible to move just one servo at a time...
I technically only need 3 servos to walk, but without the 3 other "balance servos" moving to compensate, it would fail to move, or worse, fall.
The delay calls allow the SSC-32 Servo controller enough time to move all the servos to their given destinations before the code restarts.
This is almost what my robot looks like, I don't have a camera on me, and I've made some pretty big changes since I took these photos...
