Videos of the planner in simulation and on real robots

H7 humanoid following
a moving goal

more H7 videos...

Honda ASIMO avoiding
moving obstacles

more ASIMO videos...

HRP-2 humanoid climbing stairs

more HRP-2 videos...

LittleDog crossing terrain

more LittleDog videos...

more videos...

Pictures of the planner in action

Lumpy ground

Stairs with obstacles

Small blocks

more pictures...