Mathematic model with quaternion for kinematics in the walking of a biped robot

Abstract

The human legs are characterized by a discontinuous movement regarding the floor; they can avoid obstacles, move on inclined planes and go upstairs and downstairs. The Biped Robots (BR) have an excellent adaptation to different types of surfaces where humans live and work, for example, transporting objects, recovery and movement in dangerous environments, and so on. The main purpose of this article is to develop a mathematic model of kinematics of a Biped Robot using quaternion. Two new equations are introduced to calculate the position and rotation of the mathematical model with quaternion