I would to create a "navicon menu", like in this article.
It seems to be a standard for mobile and responsive sites. Is there some module that do this?
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The Superfish module does that. It integrates the Superfish jQuery script into Drupal. It has two responsive menu options for small screens; either rendering it has an accordion or a drop-down. I strongly recommend using the Dev version as it is 'production ready' and has multiple improvements over the older release.