In a walking cycle design, maximizing the upright balance should be considered in addition to the kinematic constraints, energy consumption rate must be considered. The purpose of this study is to find the optimal step length obtained for each person according to the physical features. In this research, in order to minimize energy consumption rate by considering maximum balance two cost function were defined. the fall cost function was designed based on the concept of MOS and balance index. To investigate the upright balance and to reconstruct the movement pattern, Data from normal walking gait of healthy subjects was taken and seven links model was defined. In this study, the optimal step length was obtained for the person with height, weight and gait cycle characteristics. it is shown that for a person of 92kg mass and 1.87 meters height, the best step length in walking would be 0.54 meters. In this study, the kinematic and kinetic characteristics of human motion were identified by the analysis of gait patterns on a treadmill. Through the calculation of the balance index, individuals are helped to find the optimal step length for which the maximum balance is achieved. The results of the study can provide the optimal step length to correct the gait pattern.
