  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.
