A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly. the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly. https://www.jmannino.com/mega-choice-Rose-Gold-Herringbone-iPhone-13-Pro-MagSafe-Case-p93485-limited-save/