So, I couldn't find the actual source for this affirmation, but I read somewhere some time ago that the lower part of the human body has to be 3 times stronger than the top half; and that's why you can carry weight on your arms and still be able to walk, run and jump. If not, you would just "jam" in place, like the way it happens to people on the gym.

To me this was pretty sound, but thinking on the translation of this logic to a bipedal humanoid robot makes me ask:

If one were to follow this same logic, and the top half of the bipedal humanoid robot was able to lift 100kg, would each single electric motor on the lower part of the body need to use 300kg of torque? Or should the 300kg torque be distributed to each motor?

Of course, I know it is kinda hard to answer without a precise model to compare to, but just assume that there are 3 motors on the hips for 3 degrees of freedom, one on the knee and one on the feet. So, 10 electric motors in total.



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