If you have written code that is not working as you want then you need to post the code together with an explanation of what it actually does and what it should do.
And please post your program using the code button </> so it looks like this
If you want someone else to write code for you then you need to ask in the Gigs and Collaborations section.
I posted some code to control 5 servos with the Adafruit shield (I think it was the same one you're using). The OP modified the code I posted to work with 15 servos.
It's not code to control a biped but hopefully it will help you to see how to control multiple servos.