I'm trying to find answer in terms of physics explanation, why knee joint torque requirement is less in the forward bending leg orientation of a quadruped legged robot. I'm referring this article, in the paragraph 2.2. (Table 1 & 2)--- https://nereus.mech.ntua.gr/Documents/pdf_ps/eccomas15-2.pdf
Thank you in advance. Any answer or comment or upvote will be appreciated.