For those who have built or modified a biped: how did you estimate the torque each joint needs (static poses, dynamic gaits, safety margins), and how close did reality come? Worked numbers are welcome.
Two reference points from makers: Unitree states a maximum leg-joint torque of 360 N·m for the H2, and its G1+ robot description raises the G1's ankle pitch and roll effort limit from 41 to 61.5 N·m.
On WeBuildHumanoids: Unitree H2 · Unitree's G1 description files gain a 31-DoF G1+ model · Locomotion