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.
Visit the WB-Toolbox Website for more informations.
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 WB-Toolbox achieves a running 100 Hz rate.
Please cite the following publication if you are using WB-Toolbox for your own research and/or robot controllers:
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},
}
The development of WB-Toolbox is supported by:
- FP7 EU projects CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics)
- H2020 EU projects AnDy (No. 731540 H2020-ICT-2016-1)