Motion Control addresses the dynamical model of robotic manipulators. This includes different controller approaches, such as independent-joint, PID as well as torque control. This subdomain corresponds to Part A, Chapter 6 in the Handbook of Robotics.
In the Scenario Building phase, environment features, constraints and characteristics are defined. Furthermore, the robot's task is defined. This includes the specification of customer acceptance tests to be performed in the specified and potentially generalized environment.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
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 |
|---|---|---|---|---|
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action Library | Buch, Jacob P\orksen and Laursen, Johan Sund and S\orensen, Lars Car\oe and Ellekilde, Lars-Peter and Kraft, Dirk and Schultz, Ulrik Pagh and Petersen, Henrik Gordon | 2014 | (E)BNF |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
| hornby2001evolution | Evolution of generative design systems for modular physical robots | Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B | 2001 | unknown |
| kanayama2000s | It s time to make mobile robots programmable | Kanayama, Yutaka J and Wu, C Thomas | 2000 | |
| kress2007structured | From structured english to robot motion | Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J | 2007 | LTL |
| 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 |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages | Arne Nordmann and Sebastian Wrede and Jochen J. Steil | 2015 | |
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P Statecharts | Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas | 2013 | 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 |
|---|---|---|---|---|
| kim2003task | Task description language for underwater robots | Kim, Tae Won and Yuh, Junku | 2003 | (E)BNF |
| 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 |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming language | Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio | 1998 | 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 |
|---|---|---|---|---|
| barth2012goto | A GOTO-based concept for intuitive robot programming | Barth, Katharina and Henrich, Dominik | 2012 | other |
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action Library | Buch, Jacob P\orksen and Laursen, Johan Sund and S\orensen, Lars Car\oe and Ellekilde, Lars-Peter and Kraft, Dirk and Schultz, Ulrik Pagh and Petersen, Henrik Gordon | 2014 | (E)BNF |
| burbidge2009grammatical | Grammatical evolution of a robot controller | Burbidge, Robert and Walker, Joanne H and Wilson, Myra S | 2009 | (E)BNF |
| dantam2013correct | Correct Software Synthesis for Stable Speed-Controlled Robotic Walking. | Dantam, Neil and Hereid, Ayonga and Ames, Aaron D and Stilman, Mike | 2013 | CFG? |
| fayman1999av | AV-shell, an environment for autonomous robotic applications using active vision | Fayman, Jeffrey A and Rivlin, Ehud and Christensen, Henrik I | 1999 | unknown |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot control | Finucane, Cameron and Jing, Gangyuan and Kress-Gazit, Hadas | 2010 | LTL |
| graves1999distributed | Distributed generic control for multiple types of telerobot | Graves, Alan R and Czarnecki, Chris | 1999 | unknown |
| kanayama2000s | It s time to make mobile robots programmable | Kanayama, Yutaka J and Wu, C Thomas | 2000 | |
| kim2003task | Task description language for underwater robots | Kim, Tae Won and Yuh, Junku | 2003 | (E)BNF |
| 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 |
| 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 |
| kress2007structured | From structured english to robot motion | Kress-Gazit, Hadas and Fainekos, Georgios E and Pappas, George J | 2007 | LTL |
| 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 |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 2014 | ecore |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming language | Nishiyama, Hiroyuki and Ohwada, Hayato and Mizoguchi, Fumio | 1998 | unknown |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific Languages | Arne Nordmann and Sebastian Wrede and Jochen J. Steil | 2015 | |
| ramadorai1994generic | A generic kinematics software package | Ramadorai, Arvind K and Ganapathy, U and Guida, F | 1994 | unknown |
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P Statecharts | Thomas, Ulrike and Hirzinger, Gerd and Rumpe, Bernhard and Schulze, Christoph and Wortmann, Andreas | 2013 | other |
| utz2005hierarchical | Hierarchical behavior organization | Utz, Hans and Kraetzschmar, Gerhard and Mayer, Gerd and Palm, G\ unther | 2005 | XSD |
| 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 |
| zhang2003control | Control of small formations using shape coordinates | Zhang, Fumin and Goldgeier, Michael and Krishnaprasad, Perinkulam S | 2003 | SDD |
In the System Deployment phase, top-level component(s) are packaged into a complete application system which defines a mapping of components and composites to computational units. Furthermore, features and procedures for system launch management are developed.
| Key | Title | Authors | Year | Formalism |
|---|---|---|---|---|
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach | Morelli, Matteo and Di Natale, Marco | 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},
}