Physics of legs

[mlangsdorf]

Stride Length = leg_length / 5
Minimum Stride Time = T = 2 * pi() * sqrt( I / Lmax )
I = mass_leg * length^2 / 3
Lmax = maximum torque = Fmax * leg_length = power / rate
Lmax = engine power / rotation rate
Lmax = engine power / T
velocity = L_stride / T
T = L_stride / V
T = 2 * pi() * sqrt( I / Lmax )
T^2 = 4 * pi()^2 * I / Lmax
T^2 = 4 * pi^2 * ( I / ( engine_power / T ) )
T^2 = 4 * pi^2 * I * T / engine_power
T = 4 * pi^2 * I / engine_power
L_stride / velocity = 4 * pi^2 * L_leg^2 * m_leg / 3 / engine_power
L_leg / ( 5 * velocity ) = 4 / 3 * pi^2 * L_leg^2 * m_leg / engine_power
engine_power / velocity = 20 / 3 * pi^2 * L_leg * m_leg
engine_power = 20 / 3 * pi^2 * L_leg * m_leg * velocity
Nope, that's not right either.