A preliminary demonstration designed for Romeo:

NAO analysed his arms position to walk in the good direction.

Walked with Alexandre.
Taped by Valentin.

Wanna play with this behavior ? it's there:
http://www.mangedisque.com/Alma/nao/G...

(launch it twice to work properly)
(require some NAOqi 1.10.x minimum version)

EDIT: there's an advanced behaviors there:
   • Romeo technical demonstration - walk ...