Biorobotics Laboratory BioRob

Path Planning with the humanoid robot iCub

Panteleimon Zotos

Semester project, autumn 2008

Supervisor: Sarah Degallier
Professor: Auke Jan Ijspeert


The goal of this project was to implement a path planning algorithm on the humanoid robot iCub. The project consisted of the following parts:


Final report and presentation

Final report and presentation:


  1. The iCub is steering.
  2. The iCub finds a path from the start position(down left square) to the end position(upper right square).
  3. The iCub changes its path "on-line" after the obstacles' positions have changed dynamically.

Source Code C++

Source Code of the application in Webots.