论文标题
狼：四足机器人的全身运动框架
WoLF: the Whole-body Locomotion Framework for Quadruped Robots
论文作者
论文摘要
全身运动框架（WOLF）是一个端到端软件套件，专门用于四足机器人的机车操作。沃尔夫将四足机器人硬件的计划和控制的复杂性摘自易于使用和可靠的软件，这些软件可以通过多个远程操作设备连接到不同的四足机器人模型。此外，狼允许与四足平台共同控制安装的设备，例如手臂或板式摄像头。在这篇简短的论文中，我们介绍了Wolf及其整体软件体系结构的主要特征。
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.
