One of the basic characteristics of the walking robots is the maintenance of their dynamic balance during the walk, and the stability of legged robots in locomotion is necessary. In the past few years, the dynamics of legged robots was studied based on very simple or simplified leg structures. A more complete dynamic model is essential for the further research of a practical legged robot. As an important enrichment in stability study for a walking robot, a stability measure named as moment ratio stability margin is introduced, which takes all stability factors into formulation. The mechanical structure of a novel parallel–serial legged mechanism is introduced. Based on this structure, the performance of the proposed method is demonstrated. The advantages and practical significance of the proposed technique are illustrated by comparing it with conventional methods. The experimental study is carried out to evaluate and characterize the performances of this method.

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