README

This repository is a work in progress.

We are actively developing and addressing issues with the estimation framework. Contributions, feedback, or suggestions are highly appreciated as we continue to enhance this project!

SEROW (State Estimation RObot Walking) facilitates legged robot state estimation. Designed as a versatile tool, SEROW offers a generalized estimation solution applicable to legged robots with N limbs, accommodating both point and flat feet configurations. Notably, the framework’s codebase is openly accessible under the GNU GPLv3 License.

SEROW in Real-time

Cogimon and SEROW	Centauro and SEROW

Relevant Papers:

• Non-linear ZMP based State Estimation for Humanoid Robot Locomotion, https://ieeexplore.ieee.org/document/7803278 (Humanoids 2016 - nominated for the best interactive paper award)
• Nonlinear State Estimation for Humanoid Robot Walking, https://ieeexplore.ieee.org/document/8403285 (RA-L + IROS 2018)
• Outlier-Robust State Estimation for Humanoid Robots, https://ieeexplore.ieee.org/document/8968152 (IROS 2019)

More Videos:

• https://www.youtube.com/watch?v=nkzqNhf3_F4
• https://www.youtube.com/watch?v=9OvIBg8tn54
• https://www.youtube.com/watch?v=ojogeY3xSsw

Getting Started

These instructions will get you a copy of the project up and running on your local machine for testing purposes.

Define the environment variable inside your .bashrc file:

export SEROW_PATH=<path-to-serow-package>

Prerequisites

• Eigen 3.4.0 and later
• Pinocchio 3.0.0 and later
• json
• flatbuffers
• cmake 3.16.3 and later
• gcc 9.4.0 and later

Install

• mkdir build && cd build
• cmake .. && make -j4
• sudo make install

Test

• cd test && mkdir build && cd build
• cmake .. && make -j4
• ./nao_test

Visualize data

• Logs are saved under /tmp
• Run Foxglove
• Load the data
• Import foxglove_layout.json

For running the mujoco data

• $ pip install h5py
• $ pip install matplotlib

Citation

Upon usage in an academic work kindly cite:

@ARTICLE{PiperakisRAL18,
author={S. {Piperakis} and M. {Koskinopoulou} and P. {Trahanias}},
journal={IEEE Robotics and Automation Letters},
title={{Nonlinear State Estimation for Humanoid Robot Walking}},
year={2018},
volume={3},
number={4},
pages={3347-3354},
doi={10.1109/LRA.2018.2852788},
month={Oct},
}

License

GNU GPLv3