It just moves forward or stands and twitchs depending on the position of the servos
Can you please do a simple pencil drawing of your robot and post a picture of it here or perhaps it resembles a commercially available robot and you can post a link to that
At the moment I don't understand how the movement of the servos could make it walk
OK so you're using a library for this.
And next you do it the old fashioned way as well; why?
Clearly OP is new to Arduino.
I am new to Arduino and the reason I used library code and then went old fashion is because I wanted to see what worked.