Paper Title: Humanoid Navigation with Dynamic Footstep Plans

• Authors: Johannes Garimort, Armin Hornung, and Maren Bennewitz
• Forum: ICRA 2011, Shanghai, China

Citation

@INPROCEEDINGS{garimort11icra,
  author = {Johannes Garimort and Armin Hornung and Maren Bennewitz},
  title = {Humanoid Navigation with Dynamic Footstep Plans},
  booktitle = {Proc.~of the IEEE International Conference on Robotics and 
  Automation (ICRA)},
  year = 2011,
  month = {May},
  address = {Shanghai, China}
}

Full Text

garimort11icra.pdf

Photos and Video Results

Video results

Resulting plans

Planning and execution with a Nao humanoid:

Documentation and Code

Please refer to the released code and documentation of the footstep_planner package for information about installing and running the code.