I need help in simulating a bipedal robot I've made using Pro E Wildfire 3.0. (Please refer to figure) I want to set the initial angular velocity, angular acceleration, and torque of the thighs and the shanks to zero. I made an initial design defining the servomotor as a cosine function but it gives me a non-zero initial angular acceleration and torque. I defined 4 servomotors, one at each thigh joint and one at each knee joint. I need to measure the torque experienced by the thigh joints as the robot "walks." I can email you my design and some details if you want to have an idea of what I'm doing. Just send me a PM if you're interested with this. Thanks a lot. This thread is inactive and closed by the PTC Community Management Team. If you would like to provide a reply and re-open this thread, please notify the moderator and reference the thread. You may also use "Start a topic" button to ask a new question. Please be sure to include what version of the PTC product you are using so another community member knowledgeable about your version may be able to assist.