{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/wolf-the-whole-body-locomotion-framework-for","title":"WoLF: the Whole-body Locomotion Framework for Quadruped Robots","arxiv_id":"2205.06526","date":"2022-05-13","proceeding":null,"authors":["Gennaro Raiola","Michele Focchi","Enrico Mingo Hoffman"],"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.","url_abs":"https://arxiv.org/abs/2205.06526v1","url_pdf":"https://arxiv.org/pdf/2205.06526v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"wolf-the-whole-body-locomotion-framework-for","repo_url":"https://github.com/graiola/wolf-setup","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"wolf-the-whole-body-locomotion-framework-for","repo_url":"https://github.com/graiola/wolf_ylo2_interface","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}