== Paper Title: Humanoid Navigation with Dynamic Footstep Plans ==
 * Authors: Johannes Garimort, Armin Hornung, and Maren Bennewitz
 * Forum: ICRA 2011, Shanghai, China 
<<TOC(3)>>
== 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 ==
[[http://www.informatik.uni-freiburg.de/~hornunga/pub/garimort11icra.pdf|garimort11icra.pdf]]

== Photos and Video Results ==
=== Video results ===
<<Youtube(o0rlrEHN1w4)>>


=== Resulting plans ===
{{attachment:plan1.png|footstep plan|width=400}}

{{attachment:plan2_exp.png|footstep plan|width=400}}

{{attachment:plan3_exp.png|footstep plan|width=400}}


Planning and execution with a Nao humanoid:

{{attachment:footsteps_nao_video.png}}

== Documentation and Code ==
Please refer to the released code and documentation of the [[footstep_planner]] package for information about installing and running the code.


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## PublicationCategory