WBC is C++ library for optimization-based control of redundant robots. It allows intuitive specification and execution of reactive robot control problems that involve multiple simultaneously running tasks.
WBC was initiated and is currently developed at the Robotics Innovation Center of the German Research Center for Artificial Intelligence (DFKI) in Bremen. It is part of the ARC-OPT (Adaptive Robot Control using Optimization) framework, which facilitates learning and optimizing whole-body controllers from data obtained, e.g., in user demonstrations. Also see the ARC-OPT website of the Robotics Innovation Center.
Currently supported OS: Ubuntu20.04, Ubuntu22.04
See the manifest.xml for required and optional dependencies.
Please check the unit tests here, as well the tutorials
Please use the issue tracker to submit bug reports and feature requests. Please use merge requests as described here to add/adapt functionality.
WBC is distributed under the 3-clause BSD license.
If you use WBC within your scientific work, please cite this paper.
WBC has been developed in the research projects TransFit (Grant number 50RA1701) and BesMan (Grant number 50RA1216) funded by the German Aerospace Center (DLR) with funds from the German Federal Ministry for Economic Affairs and Climate Action (BMWK). It is further developed in the M-Rock (Grant number 01IW21002) and VeryHuman (Grant number 01IW20004) projects funded by the German Aerospace Center (DLR) with federal funds from the German Federal Ministry of Education and Research (BMBF).
Dennis Mronga, dennis.mronga@dfki.de
Copyright 2017, DFKI GmbH / Robotics Innovation Center