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.

WBT is based on the dataflow framework blockfactory. Visit the Whole-Body Toolbox Website for more information.

WBT is used extensively in the controllers stored in robotology/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 WBT achieves a running 100 Hz rate.

Please cite the following publications if you are using Whole-Body Toolbox for your own research and/or robot controllers:

@article{FerigoControllers2020,
	title = {A generic synchronous dataflow architecture to rapidly prototype and deploy robot controllers},
	author = {Ferigo, Diego and Traversaro, Silvio and Romano, Francesco and Pucci, Daniele},
	url = {https://journals.sagepub.com/doi/10.1177/1729881420921625},
	doi = {10.1177/1729881420921625},
	journal = {International Journal of Advanced Robotic Systems},
	year = {2020},
}

@article{RomanoWBI17Journal,
  title={A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems},
  author={F. Romano and S. Traversaro and D. Pucci and F. Nori},
  journal={Journal of Software Engineering for Robotics},
  year={2017},
}

The development of Whole-Body 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)

This repository is maintained by:

	@traversaro