 This paper examined the kinematic analysis of a new hybrid mechanical leg suitable for bipedal robots. The leg's motion was divided into three stages, mid-step, start, and stop. The forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were then calculated. Dynamic simulation software was used to verify the stability of the robots walking on flat ground. This study provides a reference for the gate-planning of hybrid mechanical legged bipedal robots and lays the foundation for future research. This article was authored by Peng Sun, Yunfei Gu, Hao Yumao, and others.