I've done some commenting, but it is still pretty hairy, and yes, there may be some redundancies.
I understand i might need to switch to asynchronous leg control, but it would be way more difficult than just saying leg.move, i get this was supposed to be an example, but i don't quite understand all of the changes that would need to be made. Please understand this is a 12 servo biped, and it is extremely difficult to modify code because each servo relies on a variable given to another servo... Therefore it would be a daunting task to start duplicating variables in order to separate the legs...