README

SEROW (State Estimation RObot Walking) Framework for Humanoid/Quadruped Robot Walking Estimation. The code is open-source (BSD License). Please note that this work is an on-going research and thus some parts are not fully developed yet. Furthermore, the code will be subject to changes in the future which could include greater re-factoring.

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 development and testing purposes.

Prerequisites

• Ubuntu 16.04 and later
• ROS kinetic and later
• Eigen 3.2.0 and later
• Pinocchio 2.2.1

Installing

• sudo apt-get install ros-kinetic-pinocchio
• git clone https://github.com/mrsp/serow.git
• catkin_make -DCMAKE_BUILD_TYPE=Release
• If you are using catkin tools run: catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

Minimum Robot Requirements

Using the Rigid Body Estimator to estimate:

• 3D-Body Position/Orientation/Velocity
• 3D-Support Foot Position/Orientation
• IMU biases

Requirements

• Robot State Publisher (e.g. topic: /joint_states)
• IMU (e.g. topic /imu0)
• Feet Pressure or Force/Torque Sensors for detecting contact (e.g. topic: /left_leg/force_torque_states, /right_leg/force_torque_states)

Using the full cascade framework (Rigid Body Estimator + CoM Estimator) to estimate:

• 3D-Body Position/Orientation/Velocity
• 3D-Support Foot Position/Orientation
• IMU biases
• 3D-CoM Position/Velocity
• 3D-External Forces on CoM

Requirements:

• Robot State Publisher (e.g. topic: /joint_states)
• IMU(e.g. topic /imu0)
• Feet Pressure or Force/Torque Sensors for Center of Pressure (COP) measurements in the local foot frame (e.g. topics /left_leg/force_torque_states, /right_leg/force_torque_states)

Using our serow_utils package

Use the serow_utils to visualize the estimated trajectories and to contrast them with other trajectories (e.g. ground_truth).

ROS Examples

Valkyrie SRCsim

• Download the valkyrie bag file from valk_bagfile
• roscore
• rosbag play --pause valk.bag
• roslaunch serow serow_valkyrie.launch
• roslaunch serow_utils serow_utils.launch
• hit space to unpause the rosbag play

NAO Walking on rough terrain outdoors

• Download the nao bag file from nao_bagfile
• roscore
• rosbag play --pause nao.bag
• roslaunch serow serow_nao.launch
• roslaunch serow_utils serow_utils.launch
• hit space to unpause the rosbag play

Launch on your Robot in real time

• Specify topics on config/estimation_params.yaml
• roslaunch serow serow.launch

Quadruped State Estimation

• Specify similar parameters as in config/estimation_params_centauro.yaml

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

BSD