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Footstep Planning and Navigation with a Nao Humanoid

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Uploaded on Feb 1, 2011

This video shows the results of the paper "Humanoid Navigation with Dynamic Footstep Plans" by Johannes Garimort, Armin Hornung, and Maren Bennewitz (to be presented at ICRA 2011).

Our D* Lite-based footstep planner creates footstep plans in an environment with planar obstacles. A Nao humanoid executes the footstep plan, using laser-based localization to correct for motion noise. Changing obstacle locations finally force the robot to revise its footstep plan, which demonstrates efficient replanning and plan reusage.

Code is available at http://www.ros.org/wiki/footstep_planner

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