Servos stop working randomly - Robotic Dog Build

Hey guys
Ive got a bit of a problem here. Im trying to build a robotic dog and my servos sometimes just go limp sometimes. Also its not an power issue its the Arduinos PPM-Signal that just stops for a short moment sometimes. Im using an Arduino MEGA. Coudl it have something to do withe the delay() function?
Help is greatly appreciated thanks.

The code is quite long so I attached it as an .ino file.

ZERBERUS_1.3.ino (15.1 KB)

Duplicate of

keep the same topic on just one thread. That reduces confusion when different people are tyring to help.