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Torque calculation

I would like to know how to calculate torque on three degree of freedom leg. Example like a Phoenix type robot design. At least show me the calculations that would make my life easier. Thanx
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Think about what torque is. It is a rotational force applied at a distance, so it would have the units of force times length. RC servos like those shown on the Phoenix leg usually have this quantity as part of their specifications, measured in either ounce-inches or kilogram-centimeters. This is what each servo is capable of. To figure out how much torque the weight of the robot applies to the leg, measure the horizontal distance between the servo axle and the "foot" that is contacting the ground as a lever arm, and multiply that times the weight (divided by the number of legs bearing the weight).