Vinu sent in his Launchpad servo walker consisting of two servos with a fixed gait for the legs – a very simple project for beginners. If you scroll down below at his webpage, he warns about servo placement making sure that they are at an angle to achieve the “creep”
The servo controlling techinque used here is a little bit different compared to the usual hardware PWM, I used a circular buffer to save each servo position and o/p pin details. Only a timer compare interrupt is used for this. This is a common technique used for controlling more servo using a cheap microcontroller with limited hardware Timer-pwm modules. Using this software pwm(not a perfect pwm, but still it will work in the servo motors) techinque, I can control more servo motors like 4,5, 6 etc etc depending on the number of I/O pins.