Paper Title: Humanoid Navigation with Dynamic Footstep Plans

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


  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


Photos and Video Results

Video results

Resulting plans

footstep plan

footstep plan

footstep plan

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.

Wiki: Papers/ICRA2011_Garimort_Hornung_Bennewitz (last edited 2011-05-01 01:17:10 by ArminHornung)