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},
}