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)

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

cyb3rwiz / serow Goto Github PK

serow's Introduction