Servomotor definitions for Bipedal Robot Simulation

I need help in simulating a bipedal robot I've made using Pro E. I want to set the initial angular velocity, angular acceleration, and torque of the thighs and the shanks to zero. I'm having a hard time defining the servomotors that would give me the results that I want. I only determined the positions of the thighs and shanks at a given cycle time. I can email you my design and some details if you want to have an idea of what I'm doing. attached here is the image of my design. Just send me a PM if you can help me with this. THanks a lot.