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SEROW Framework for N Legged Robot Walking Estimation

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README

SEROW

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
YouTube Link YouTube Link

Relevant Papers:

More Videos:

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 2.2.1 and later
  • json
  • 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

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