WoLF: the Whole-body Locomotion Framework for Quadruped Robots

TL;DR

WoLF is an integrated software framework that simplifies the planning and control of quadruped robots, enabling easy tele-operation and control of mounted devices for versatile locomotion and manipulation tasks.

Contribution

This paper introduces WoLF, a comprehensive software suite that unifies quadruped robot control and manipulation in an accessible, end-to-end platform.

Findings

Supports multiple robot models and tele-operation devices

Enables joint control of mounted devices and quadruped platform

Provides a robust and user-friendly software architecture

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.