Apologize if I posted in the wrong forum, first time posting here.

Currently I am a 3rd year Mech E student. I am interested in a designing and creating a quadruped robot controlled using a raspberry pi. Are there any books or any resources you guys would recommend that could teach me the basics of how I can design the mechanism? Also, how would one go about calculating the torque needed for the different servos? I am planning on using Solidworks to design, and use MATLAB for simulations and 3D print them.

Thank You