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arXiv · 2205.06526

WoLF: the Whole-body Locomotion Framework for Quadruped Robots

Gennaro Raiola·Michele Focchi·Enrico Mingo Hoffman
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Abstract

The Whole-Body Locomotion Framework (WoLF) is an end-to-end software suite devoted to the loco-manipulation of quadruped robots. WoLF abstracts the complexity of planning and control of quadrupedal robot hardware into a simple to use and robust software that can be connected through multiple tele-operation devices to different quadruped robot models. Furthermore, WoLF allows controlling mounted devices, such as arms or pan-tilt cameras, jointly with the quadrupedal platform. In this short paper, we introduce the main features of WoLF and its overall software architecture.

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Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman. 2022-05-13. WoLF: the Whole-body Locomotion Framework for Quadruped Robots. https://arxiv.org/abs/2205.06526

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