Jorge Luis  Aroca Trujillo, Leonardo Broche  Vazquez, Ruthber  Rodriguez Serrezuela, 
    Mathematical Model of the March of a Bipedal Robot Applying Quaternions
Oriented to the Development of Anthropomorphic Robots,
    Journal of Engineering and Applied Sciences,
    Volume 15,Issue 1,
    2020,
    Pages 88-93,
    ISSN 1816-949x,
    jeasci.2020.88.93,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2020.88.93)
    Abstract: Humans have characteristic movements in the legsthatt end to be discontinuous with respect to the
ground have the ability to evade obstacles, move on planes that have some degree of inclination and ascend/
descend stairs. Bipedal robots have a certain adaptation to a wide variety of surfaces where humans do the
essential to live and work, a clear example can be seen when transported objects where we notice the recovery
and movement in dangerous environments, among others. The main objective of this study is the development
to make a mathematical model of the kinematics of a biped robot.
    Keywords: Biped;quaternions;kinematics;mechatronics;adaptation;inclination