Robot Stutters while walking/running

While customizing and experimenting with each preset, I noticed that when the robot suddenly pauses for a very short amount of time before it gets right back to walking. I am unsure if this is an intentional feature or not but this causes the robot to slow down quite a bit. if this is something I can fix, I can would love to know what and tow to solve this, otherwise its no big deal. Thx in advance!