Allbot 408 slide problem

ALLBOT ALLBOT - Four legs (VR408)
1

Hello workers at Velleman, Or just people in the forums

I started working on the Allbot 408 when i noticed it sliding away.
I tried to make it slower but that didnt work, i did notice when you dont have any other movement in your allbot it stands still without sliding.
So when i try to get it to walk or anything else it will just slowly stop moving because it’s too heavy
I wanted to ask if anyone had the same problem and know how to solve it
I use this code:

#include <Servo.h> 
#include <ALLBOT.h>

ALLBOT BOT(8);  //number of motors

enum MotorName {
  hipFrontLeft,
  hipFrontRight,
  hipRearLeft,
  hipRearRight,
  kneeFrontLeft,
  kneeFrontRight,
  kneeRearLeft,
  kneeRearRight
};
int sounderPin = 13;

void setup() {

  //INIT sounder
  pinMode(sounderPin, OUTPUT);

  // Chirp for begin
  chirp(2, 25);
  chirp(3, 200);
  
  //NAME.attach(motorname, pin, init-angle, flipped, offset-angle);
  BOT.attach(hipFrontLeft,   A1,  45, 0, 0);
  BOT.attach(hipFrontRight,  A0,  45, 1, 0);
  BOT.attach(hipRearLeft,     9,  45, 1, 0);
  BOT.attach(hipRearRight,    4,  45, 0, 0);
 
  BOT.attach(kneeFrontLeft,  11,  45, 0, 0);
  BOT.attach(kneeFrontRight,  2,  45, 1, 0);
  BOT.attach(kneeRearLeft,   10,  45, 1, 0);
  BOT.attach(kneeRearRight,   3,  45, 0, 0);

  
  //wait for joints to be initialized
  delay(500);

  // Chirp for ready
  chirp(1, 50);
  chirp(1, 255);
  chirp(3, 0);


}

void loop() {
  // put your main code here, to run repeatedly:
  walk(400);
  delay(200);

}

void walk(int speedms){
BOT.move(hipRearRight, 0);
BOT.move(kneeRearRight, 130);
BOT.move(hipFrontLeft, 0);
BOT.move(kneeFrontLeft, 130);
BOT.animate(speedms);

delay(1000);

BOT.move(kneeRearRight, 45);
BOT.move(kneeFrontLeft, 45);
BOT.animate(speedms);

delay(2000);

BOT.move(hipRearRight, 45);
BOT.move(hipFrontLeft, 45);
BOT.animate(speedms);

delay(200);

BOT.move(hipFrontRight, 0);
BOT.move(kneeFrontRight, 130);
BOT.move(hipRearLeft, 0);
BOT.move(kneeRearLeft, 130);
BOT.animate(speedms);

delay(1000);

BOT.move(kneeFrontRight, 45);
BOT.move(kneeRearLeft, 45);
BOT.animate(speedms);

delay(2000);

BOT.move(hipFrontRight, 45);
BOT.move(hipRearLeft, 45);
BOT.animate(speedms);


}
void chirp(int beeps, int speedms){
  for (int i = 0; i < beeps; i++){
    for (int i = 0; i < 255; i++){
      digitalWrite(sounderPin, HIGH);
      delayMicroseconds((355-i) + (speedms*2));
      digitalWrite(sounderPin, LOW);
      delayMicroseconds((355-i) + (speedms*2));
    }
     delay(30);
  }
}

Thanks in advance