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WoLF: the Whole-body Locomotion Framework for Quadruped Robots

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arxiv 2205.06526 v1 pith:GYRQEBNH submitted 2022-05-13 cs.RO

WoLF: the Whole-body Locomotion Framework for Quadruped Robots

Gennaro Raiola , Michele Focchi , Enrico Mingo Hoffman This is my paper
classification cs.RO
keywords wolfquadrupedsoftwaredevicesframeworklocomotionquadrupedalrobot
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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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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