Servo Motor

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How much torque should a stepper motor and servo motor have?

I am listing down parts for my humanoid robot,so i was thinking if the robot has to walk and run fast then how much torque should the stepper motor and servo motor have.
How many are required for the robot which is about 40 cms long.

generally one does not directly "drive" from the shaft of the stepper motor. The speed is reduced with a gear train, and if the speed reduction is by a factor of 100, then you get advantage in terms of 100 times torque of shaft of motor. The speed does comedown and it is a good thing otherwise, the robot will run instead of walking!!
As to the actual torque required, if the weight of the leg is say 1Kg (an assumption) and you want it to move by 30 deg, then taking the length of leg as approximately 0.5 meter, torque required will be about .25*1Kg = 0.25Kg meter. If this 30 deg movement should happen in say 1 sec, then 360 deg will take 12 sec, or equivalent speed of shaft after gear is 1/2 rps or 5 rpm. With gear as 100:1, the shaft should rotate at a speed of 500rpm, and have 0.25kgmter/100 as torque. You will find that gear train will have efficiency of perhaps 50%, and the torque actually will have to be about twice this, 500gm cm. this is a starting point for your assessment. Remove all the 'if's and place your values there.

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