#include <Servo.h>

Servo myservo1;    //Servo for the vertical motion
Servo myservo2;    //Servo for the horizontal motion

int servoPos=90;
int servoVPos1=75;
int servoVPos2=105;
int servoHPos1=60;
int servoHPos2=120;

void setup() {

  myservo1.attach(9);  // attaches the servo on pin 9
  myservo2.attach(11);  // attaches the servo on pin 11
  myservo1.write(servoPos);
  myservo2.write(servoPos); //both servos start from the original position of 90 degrees

}

void loop() {
  
  
//for the right part of the leg
  delay(1000);
  myservo1.write(servoVPos1); //The servo motor for vertical motion puts the leg up
  delay(1000);
  myservo2.write(servoHPos1); //The servo motor for horizontal motion puts leg forward 
  delay(1000);
  myservo1.write(servoPos); //The servo motor for vertical motion puts the leg down
  delay(1000);

//for the left part of the leg
  delay(1000);
  myservo1.write(servoVPos2); //The servo motor for vertical motion puts the leg up
  delay(1000);
  myservo2.write(servoHPos2); //The servo motor for horizontal motion puts leg forward 
  delay(1000);
  myservo1.write(servoPos); //The servo motor for vertical motion puts the leg down
  delay(1000);
  
}