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Whole-Body Toolbox

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​ This toolbox allows non-programming experts and researchers approaching Whole-Body Control to more easily develop controllers on either simulated or real YARP-based robotic platforms.
​ Develop to deployment time is minimized by exploiting the rich variety of Simulink's toolboxes and its capabilities on rapid prototyping and visual debugging.

WBT is based on the dataflow framework blockfactory. It mainly wraps functionalities of the YARP middleware and the iDynTree rigid-body dynamics library, providing an interface compatible with dataflow programming. The WBT library can be embedded in any C++ framework and run from all the engines supported by blockfactory, we mainly use and support Simulink by providing a Simulink Library.

Who uses WBT?

WBT is used extensively in the controllers stored in robotology/whole-body-controllers.

This video shows the latest results on the iCub robot achieved in the EU project CoDyCo in which a top level controller implemented with the robotology/wb-toolbox achieves a running 100 Hz rate.

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Citing this work

Romano F., Traversaro S., Pucci D., Nori F.

A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems

Journal of Software Engineering for Robotics, 2017

Bibtex citation
@ARTICLE{RomanoWBI17Journal,
author={F. Romano and S. Traversaro and D. Pucci and F. Nori},
journal={Journal of Software Engineering for Robotics},
title={A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems},
year={2017},
}