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Torque calculations of quadruped robot for motor selection

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apogee4552:
I am building a quadruped robot using a five-bar coaxial leg mechanism modelled after Ghost Minitaur. I need to calculate the torques generated at the joints to select an appropriate motor. Can anybody give me advice on how to make these calculations and if there is any software i can use to calculate them. I am extremely new to this field and any help will be appreciated. Any recommendations on motors would also be highly appreciated.

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