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Whole Body Toolbox

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.

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Who use WB-Toolbox

WB-Toolbox is used extensively in the controllers stored in robotology-playground/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},
}