Software – Dr. Piperakis

Open-source software I've developed

State Estimation Robot Walking

State Estimation Robot Walking (SEROW) is a 3D base and CoM estimation framework for legged robot walking. SEROW is available as a ROS1/2 – C/C++ and Python package.

Legged Contact Detection

Legged Contact Detection (LCD) is a quality of contact estimation supervised deep learning framework for legged robots. It utilizes leg Force/Torque and IMU measurements to predict the probability of Stable Contact and Unstable Contact. LCD is implemented as a Python + PyTorch package.

NAO WALK

NAO WALK is a walking engine for the NAO Humanoid Robot implemented as a NaoQi module in C/C++. Additionally, a ROS1 interface is offered to allow for real-time communication with the robot.

GAIT-PHASE ESTIMATION

Gait-Phase Estimation Module (GEM) is an unsupervised learning framework to estimate the phase of the gait in humanoid robot walking. GEM is offered as a ROS1 – Keras/Python package.

WHOLE-BODY INVERSE KINEMATICS

Whole-Body Inverse Kinematics is a ROS1/C++ package that performs hierarchical task-based inverse kinematics at the velocity level for open-kinematic chains such as legged robots, by respecting joint positional and velocity constraints.