In this paper, we propose a software abstraction layer to simplify the design and synthesis of whole-body controllers without making any preliminary assumptions on the control law to be implemented. The main advantage of the proposed library is the decoupling of the control software from implementation details, which are related to the robotic platform. Furthermore, the resulting code is more clean and concise than ad-hoc code, as it focuses only on the implementation of the control law. In addition, we present a reference implementation of the abstraction layer together with a Simulink interface to provide support to Model-Driven based development. We also show the implementation of a simple proportional-derivative plus gravity compensation control together with a more complex momentum-based bipedal balance controller.
A Comparative Study of Floating-Base Space Parameterizations for Agile Whole-Body Motion Planning
Laboratory of Automation and Robotics (LAR) in the Department of Electrical & Computer Engineering, University of Patras（帕尔蒂亚大学电气与计算机工程系自动化与机器人实验室）；Archimedes/Athena RC（阿基米德/雅典娜研究中心）；Athena - Research and Innovation Center in Information, Communication and Knowledge Technologies（雅典娜信息、通信和知识技术研究与创新中心）
Task-Space Riccati Feedback based Whole Body Control for Underactuated Legged Locomotion
School of System Design and Intelligent Manufacturing, Southern University of Science and Technology（南方科技大学系统设计与智能制造学院）；Department of Civil and Environmental Engineering, The Hong Kong University of Science and Technology（香港科技大学土木与环境工程系）；Department of Aerospace and Mechanical Engineering, University of Notre Dame（圣母大学航空航天与机械工程系）
Efficient Computation of Whole-Body Control Utilizing Simplified Whole-Body Dynamics via Centroidal Dynamics
Seoul National University（首尔国立大学）；Samsung Electronics（三星电子）；Korea Institute of Science and Technology（韩国科学技术研究院）；Technical University of Munich（慕尼黑工业大学）；Advanced Institutes of Convergence Technology（先进融合技术研究院）
Learning Whole-Body Loco-Manipulation for Omni-Directional Task Space Pose Tracking with a Wheeled-Quadrupedal-Manipulator
School of System Design and Intelligent Manufacturing (SDIM), Southern University of Science and Technology, Shenzhen, China（系统设计与智能制造学院，南方科技大学，深圳，中国）；Zhejiang University-University of Illinois Urbana-Champaign Institute (ZJUI), Haining, China（浙江大学-伊利诺伊大学厄巴纳-香槟分校联合学院，海宁，中国）；LimX Dynamics, Shenzhen, China（LimX Dynamics，深圳，中国）
A Human Motion Compensation Framework for a Supernumerary Robotic Arm
Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences（中国科学院机器人与智能制造创新研究院）；Istituto Italiano di Tecnologia（意大利理工学院）
Learning Task-Specific Dynamics to Improve Whole-Body Control
Jožef Stefan Institute（约泽夫·斯蒂芬研究所）；University of Southern California（南加州大学）；New York University（纽约大学）；Tandon School of Engineering（坦登工程学院）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）
Whole-body motion planning and safety-critical control for aerial manipulation
School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore（机械与航空航天工程学院，南洋理工大学，新加坡）；Department of Aerospace Engineering, Seoul National University, South Korea（航空航天工程系，首尔国立大学，韩国）
