Paper Title: Humanoid Navigation with Dynamic Footstep Plans
- Authors: Johannes Garimort, Armin Hornung, and Maren Bennewitz
- Forum: ICRA 2011, Shanghai, China
Contents
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
Photos and Video Results
Video results
Resulting plans
ICRA2011_Garimort_Hornung_Bennewitz/plan1.png "footstep plan")
ICRA2011_Garimort_Hornung_Bennewitz/plan2_exp.png "footstep plan")
ICRA2011_Garimort_Hornung_Bennewitz/plan3_exp.png "footstep plan")
Planning and execution with a Nao humanoid:
ICRA2011_Garimort_Hornung_Bennewitz/footsteps_nao_video.png "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.