# WoLF: the Whole-body Locomotion Framework for Quadruped Robots

arXiv: https://arxiv.org/abs/2205.06526 · HTML: https://mlsanity.com/paper/2205.06526/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 13 May 2022.

## Built on by (most cited first, 2 of 2)

- [Artifacts Mapping: Multi-Modal Semantic Mapping for Object Detection and 3D Localization](https://mlsanity.com/paper/2307.01121/) (2023)
- [Robotic Contextual Awareness for Human-Robot Collaboration and Environmental Understanding](https://mlsanity.com/paper/2607.10372/) (2026)

## Abstract (arXiv)

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.