Serout to serial servo

[Archangel]

I am very sorry to trouble you people with my problem. I really appreciate your help.

Wow, do not be sorry, it is a challenge, not a trouble, if we were not happy to help, we would not do it.
You have the code tags reversed, that is why they did not work for you, the [/code] goes after the code

Now I can make the leg moving but after three or four move it will stall. It's seem like I have to off and on the signal voltage to make it move smoothly. I don't know what happen.
This is my first time with serial servo and humanoid.

I agree with Dave, make sure to bypass the power supply line going to the servos, I would put a capacitor at each servo's connection.

I see it GOSUBing right to END. I do not see any place that LOOPs.

Again I agree with Dave, your code executes to the end and has nowhere to go, put a label ( main: ) before your sub directories and a goto main after them or a goto somewhere else you want it to go, you need some kind of loop that checks for YOUR input, since this robot will likely be under Your control. I understand this is just 1 legs control software, but until it becomes just a part of a larger program, it should have some way back to you, yes the returns should do it everytime, but it only cost a word or 2 to have the insurance policy.
Try your PIC on a separate power supply (batteries) from your servos, as Dave pointed out it may be browning out or just getting a bunch of hash from the servos into it's power input.