Simple quadruped movement

movement.txt

#include <Servo.h>
/*
hip1 = front left hip
knee1 = front left knee
hip2 = rear left hip
knee2 = rear left knee
hip3 = rear right hip
knee31 = rear right knee
hip4 = front right hip
knee41 = front right knee
*/
Servo hip1;
Servo knee1;
Servo hip2;
Servo knee2;
Servo hip3;
Servo knee3;
Servo hip4;
Servo knee4;
//////////////////////////////////////
void setup()
{
  hip1.attach(0);
  hip1.write(60);
  knee1.attach(1);
  knee1.write(170);
  hip2.attach(2);
  hip2.write(120);
  knee2.attach(3);
  knee2.write(10);
  hip3.attach(4);
  hip3.write(70);
  knee3.attach(5);
  knee3.write(180);
  hip4.attach(6);
  hip4.write(120);
  knee4.attach(7);
  knee4.write(30);
}
////////////////////////////////////// 
void forward()
{ 
  knee1.write(170-20);
  knee3.write(180-20);
  delay(300);
  hip1.write(60-20);
  hip3.write(70-20);
  delay(300);
  knee1.write(170);
  knee3.write(180);
  delay(300);
  hip1.write(60);
  hip3.write(70);
  delay(300);

  knee2.write(10+20);
  knee4.write(30+20);
  delay(300);
  hip2.write(120+20);
  hip4.write(120+20);
  delay(300);
  knee2.write(10);
  knee4.write(30);
  delay(300);
  hip2.write(120);
  hip4.write(120);
  delay(300);
}
/////////////////////////////////////
void loop()
{
  forward();
}