Towards the Development of a Navigation System for a Bipedal Robot: Preliminary Analysis of the Literature Miguel Angel Ortega-Palacios, Josefina Guerrero-García, Juan Manuel González-Calleros Benemérita Universidad Autónoma de Puebla, Language & Knowledge Engineering (LKE), Puebla, Mexico miguel.ortegap@alumno.buap.mx, {josefina.guerrero,juan.gonzale}@correo.buap.mx Abstract. In the literature, several works are reported about the gait of bipedal robots. Some papers are associated with stability or automatic learning and navigation, but no paper was found that includes the variables of bipedal gait, stability, navigation and automatic learning, all applied in an indoor bipedal robot. Our objective is, after the analysis of the state of the art, to propose a methodology that will allow the autonomous navigation of a bipedal robot and validate its degree of autonomy with respect to the evaluation metrics reported in the literature. Keywords: Bipedal Robot, Bipedal Gait, Stability, Navigation. 1 Introduction As many mobile robots begin to integrate into different areas of society, they will need to operate in a wide variety of environments. Often, these environments will be dynamic; the objects move and the structures change physically. Less dynamic environments can be characterized by physical changes that occur over days, weeks or months, while more dynamic environments involve objects in continuous motion, such as human beings or vehicles. Mobile robots cannot assume that the world is static if we expect them to work effectively. For a mobile robot to work autonomously in a dynamic environment, it must have a way of detecting its environment. Cameras are ubiquitous among modern robots and can provide a large amount of information about the environment. Robotics applications can employ techniques such as computer vision to perform object recognition, 3D reconstruction, mapping and localization tasks [1]. Nowadays, most robots require moving and performing tasks in a variety of environments that are sometimes even unpredictable. Navigation with mobile robots is a challenging problem in the field of robotics where numerous studies have been conducted that have resulted in a variety of solutions. Four integral parts are identified in the navigation of a biped robot: perception, location, movement control and trajectory planning. The rest of this document is structured as follows: the second section addresses the importance of bipedal robots, section three presents the state of the art analysis, the 43 ISSN 1870-4069 Research in Computing Science 148(9), 2019 pp. 43–56; rec. 2019-03-11; acc. 2019-06-03