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Computer Science > Robotics

arXiv:2205.06526 (cs)
[Submitted on 13 May 2022]

Title:WoLF: the Whole-body Locomotion Framework for Quadruped Robots

Authors: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.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2205.06526 [cs.RO]
  (or arXiv:2205.06526v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2205.06526

Submission history

From: Michele Focchi [view email]
[v1] Fri, 13 May 2022 09:17:38 UTC (6,220 KB)
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