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.
| Cogimon and SEROW | Centauro and SEROW |
|---|---|
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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
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>
mkdir build && cd buildcmake .. && make -j4sudo make install
cd test && mkdir build && cd buildcmake .. && make -j4./nao_test
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},
}