Lawful custody is an element of the offense of escape, Barnett v. State, 517 So.2d 641 (Ala.Cr.App. 1987), and in order for custody to be lawful the arrest must be legal. § 13A-10-30(b)(1). See also Talley v. State, 479 So.2d 1307 (Ala.Cr.App. 1985). Section 15-10-3 sets forth the circumstances under which an officer may arrest an individual without having personal possession of the arrest warrant.