Paper ID: 2205.06526

WoLF: the Whole-body Locomotion Framework for Quadruped Robots

Gennaro Raiola, Michele Focchi, Enrico Mingo Hoffman

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.

Submitted: May 13, 2022