Robotics DSL Zoo

Subdomain

Dynamics

Dynamics covers the relationships between actuation and contact forces that act on robot mechanisms. Such a mechanism in this sense is described by rigid bodies connected by joints. Furthermore, it pertains to the acceleration and motion trajectories resulting from these relationships. This subdomain corresponds to Part A, Chapter 2 in the Handbook of Robotics.

4 publications

Publications per development phase
  1. Scenario Building 0
  2. Functional Design 2
  3. Platform Building 1
  4. Capability Building 4
  5. System Deployment 0
  6. System Benchmarking 0
  7. Product Deployment 0
  8. Product Maintenance 0
Publications per year
  2. 1985
  7. 1990
  12. 1995
  17. 2000
  22. 2005
  27. 2010
  32. 2015

Functional Design

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.

KeyTitleAuthorsYear FormalismTool
frigerio2012model Model based code generation for kinematics and dynamics computations in robot controllersWorkshop on Software Development and Integration in Robotics, St. Paul, Minnesota, USA Marco Frigerio, Jonas Buchli, Darwin G Caldwell 2012 ecore xtext
jara2011ejs+ Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido 2011 other none

Platform Building

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.

KeyTitleAuthorsYear FormalismTool
jara2011ejs+ Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido 2011 other none

Capability Building

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.

KeyTitleAuthorsYear FormalismTool
aertbelien2014etasl eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphsIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on Erwin Aertbeliën, Joris De Schutter 2014
frigerio2012code Code Generation of Algebraic Quantities for Robot ControllersIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on websitedownload Marco Frigerio, Jonas Buchli, Darwin G Caldwell 2012 ecore xtext
frigerio2012model Model based code generation for kinematics and dynamics computations in robot controllersWorkshop on Software Development and Integration in Robotics, St. Paul, Minnesota, USA Marco Frigerio, Jonas Buchli, Darwin G Caldwell 2012 ecore xtext
jara2011ejs+ Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operationRobotics and Autonomous systems Carlos A Jara, Francisco A Candelas, Pablo Gil, Fernando Torres, Francisco Esquembre, Sebastián Dormido 2011 other none