2022/05/13 by Raiola, Gennaro, Focchi, Michele, Hoffman, Enrico Mingo
#FOS: Computer and information sciences #Robotics (cs.RO)
paper · doi:10.48550/arxiv.2205.06526
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.