How to get COM position of biped robot during locomotion using matlab2017b simscape?

Hi, now I am using matlab simscape simulate biped walking robot and it can walk. I want to acquire the CoM position of robot. But I do not know how to solve this quesiton. My robot has about 50 solids and many joints. If I get the Com of single solid, then add all solids's COM position for the whole robot's COM, is right?

Answer 1

[Steve Miller]

The best way to get this answer would be to use the Inertia Sensor block added in R2019b.

If that is not an option, you could sense the position of all individual CGs and use those individual measurements to calculate the overall CG.

--Steve