The total dynamic torque for one of the biped legs.

Hello Im trying to make a biped using the Dynamixel Ax-12A servos for the legs. In the User manual for these servos it is clearly stated that Stable motions are possible with robots designed for loads with 1 /5 th or less of the stall torque Does the above statement apply to just 1 of the AX - 12A Servos or should the total mass of the robot be 1/5 th of the total stall torque of the 3 servo motors i will be using in 1 of the legs of the biped, i.e. during the motion of the robot.