Kinematics refers to the motion of bodies in robotic mechanisms without taking the forces/torques causing the motion into account. Hence, it includes general representations of the position and orientation of a body, the relation among the joints as well as conventions for representing the geometry of rigid bodies connected by joints. This subdomain corresponds to Part A, Chapter 1 in the Handbook of Robotics.
In the Functional Design phase, hardware requirements and top-level functionalities are derived based on the scenario definition. Furthermore, top-level functionalities are decomposed and dependencies among them are identified. Also an initial functional design stating which functionalities interact with each other is developed.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | ecore |
| hornby2001evolution | Evolution of generative design systems for modular physical robots | Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B | 2001 | unknown |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
| kanayama2000s | It s time to make mobile robots programmable | Kanayama, Yutaka J and Wu, C Thomas | 2000 | |
| kang20053d | 3d virtual prototyping of home service robots using asadal/obj | Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon | 2005 | unknown |
| manikonda1995motion | A motion description language and a hybrid architecture for motion planning with nonholonomic robots | Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James | 1995 | other |
In the Platform Building phase, the robot hardware is determined. This includes the selection and potential configuration of robot's sensors and actuators meeting the requirements defined in the functional design phase.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurations | Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh | 2011 | |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
| kang20053d | 3d virtual prototyping of home service robots using asadal/obj | Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon | 2005 | unknown |
| ramadorai1994generic | A generic kinematics software package | Ramadorai, Arvind K and Ganapathy, U and Guida, F | 1994 | unknown |
In the Capability Building phase, basic and composite components are constructed up to the application-level and constraints for their deployment are specified. This also includes the specification and eventually generation of additional knowledge required for component execution such as knowledge bases and training data.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| aertbelien2014etasl | eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs | Aertbeli\ en, Erwin and De Schutter, Joris | 2014 | |
| bordignon2011generalized | Generalized programming of modular robots through kinematic configurations | Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh | 2011 | |
| frigerio2012code | Code Generation of Algebraic Quantities for Robot Controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | ecore |
| frigerio2012model | Model based code generation for kinematics and dynamics computations in robot controllers | Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G | 2012 | ecore |
| jara2011ejs+ | Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation | Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an | 2011 | other |
| kanayama2000s | It s time to make mobile robots programmable | Kanayama, Yutaka J and Wu, C Thomas | 2000 | |
| kang20053d | 3d virtual prototyping of home service robots using asadal/obj | Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon | 2005 | unknown |
| klotzbucher2011reusable | Reusable hybrid force-velocity controlled motion specifications with executable domain specific languages | Klotzbucher, M and Smits, Ruben and Bruyninckx, Herman and De Schutter, Joris | 2011 | unknown |
| manikonda1995motion | A motion description language and a hybrid architecture for motion planning with nonholonomic robots | Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James | 1995 | other |
| ramadorai1994generic | A generic kinematics software package | Ramadorai, Arvind K and Ganapathy, U and Guida, F | 1994 | unknown |
| vanthienen2013rapid | Rapid application development of constrained-based task modelling and execution using domain specific languages | Vanthienen, Dominick and Klotzbuucher, M and De Schutter, Joris and De Laet, Tinne and Bruyninckx, Herman | 2013 | unknown |
An important DSL is missing? Here is how to contribute! When using content of the Robotics DSL Zoo or referring to it, pleace consider citing our survey paper:
@article{nordmann2016survey,
author = {Nordmann, Arne and Hochgeschwender, Nico and Wigand, Dennis Leroy and Wrede, Sebastian},
journal = {Journal of Software Engineering in Robotics (JOSER)},
number = {1},
pages = {75--99},
title = {{A Survey on Domain-Specific Modeling and Languages in Robotics}},
volume = {7},
year = {2016},
}