Mechanisms and Actuation focuses on the mechanical structure of a robot that creates its movable skeleton. All elements that cause a robotic mechanism to move – so called actuators – are addressed along with the mathematical model that is used to characterize the robot's performance. This subdomain corresponds to Part A, Chapter 3 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 |
|---|---|---|---|---|
| hornby2001evolution | Evolution of generative design systems for modular physical robots | Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B | 2001 | unknown |
| 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 |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration | Roehr, Thomas M and Cordes, Florian and Kirchner, Frank | 2014 |
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 |
|---|---|---|---|---|
| fryer1998resource | Resource modelling and combination in modular robotics systems | Fryer, J Andrew and McKee, Gerard T | 1998 | unknown |
| 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 |
| kilgo2012visual | A Visual Modeling Language for RDIS and ROS Nodes Using AToM3 | Kilgo, Paul and Syriani, Eugene and Anderson, Monica | 2012 | |
| kitagishi2002development | Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks | Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi | 2002 | XSD |
| ljungkrantz2007implementing | Implementing a control system framework for automatic generation of manufacturing cell controllers | Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin | 2007 | XSD |
| roehr2014reconfigurable | Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration | Roehr, Thomas M and Cordes, Florian and Kirchner, Frank | 2014 | |
| schneider2014declarative | Declarative specification of task-based grasping with constraint validation | Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K | 2014 | ecore |
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 |
|---|---|---|---|---|
| barth2012goto | A GOTO-based concept for intuitive robot programming | Barth, Katharina and Henrich, Dominik | 2012 | other |
| fleury1994design | Design of a modular architecture for autonomous robot | Fleury, Sara and Herrb, Matthieu and Chatila, Raja | 1994 | unknown |
| 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 |
| kilgo2012visual | A Visual Modeling Language for RDIS and ROS Nodes Using AToM3 | Kilgo, Paul and Syriani, Eugene and Anderson, Monica | 2012 | |
| kitagishi2002development | Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks | Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi | 2002 | XSD |
| ljungkrantz2007implementing | Implementing a control system framework for automatic generation of manufacturing cell controllers | Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin | 2007 | XSD |
| nilas2004innovative | An innovative high-level human-robot interaction for disabled persons | Nilas, Phongchai and Rani, Pramila and Sarkar, Nilanjan | 2004 | unknown |
| schneider2014declarative | Declarative specification of task-based grasping with constraint validation | Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K | 2014 | ecore |
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},
}