I recently built a four-legged insect-like walking robot. The servos that I could afford at the time of the build weren't very powerful, and so one of the motors stripped while I was test-running different walking gates. The robot is rather heavy, 3.4 lbs. I was wondering how I could determine the proper amount of torque or power needed in each servo to hold the shifting weight of the robot.
For each leg, one servo is connect to a bracket and housed on it's side, to move the bracket back and forth laterally. At the end of that bracket, another servo is attached with another bracket to lift the leg vertically from the side. The servo that stripped is the one at the end of the leg, the one in charge of lifting and lowering the leg.
I've been doing some research online, and haven't found a good answer yet. Any help is appreciated.