WoLF: the Whole-body Locomotion Framework for Quadruped Robots

Gennaro Raiola; Michele Focchi; Enrico Mingo Hoffman

WoLF: the Whole-body Locomotion Framework for Quadruped Robots

Robotics 2022-05-16 v1

Authors: Gennaro Raiola , Michele Focchi , Enrico Mingo Hoffman

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.

Keywords

whole-body locomotion quadruped robots loco-manipulation software architecture tele-operation mounted devices

Cite

@article{arxiv.2205.06526,
  title  = {WoLF: the Whole-body Locomotion Framework for Quadruped Robots},
  author = {Gennaro Raiola and Michele Focchi and Enrico Mingo Hoffman},
  journal= {arXiv preprint arXiv:2205.06526},
  year   = {2022}
}

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