Robotics DSL Zoo

Subdomain

Kinematics

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.

12 publications

Publications per development phase
  1. Scenario Building 0
  2. Functional Design 6
  3. Platform Building 4
  4. Capability Building 11
  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
hornby2001evolution Evolution of generative design systems for modular physical robotsRobotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on Gregory S Hornby, Hod Lipson, Jordan B Pollack 2001 unknown none
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
kanayama2000s It's time to make mobile robots programmableRobotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on Yutaka J Kanayama, C Thomas Wu 2000 unknown
kang20053d 3d virtual prototyping of home service robots using asadal/objRobotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang 2005 unknown ASADAL/OBJ
manikonda1995motion A motion description language and a hybrid architecture for motion planning with nonholonomic robotsRobotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on Vikram Manikonda, Perinkulam S Krishnaprasad, James Hendler 1995 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
bordignon2011generalized Generalized programming of modular robots through kinematic configurationsIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on Mirko Bordignon, Kasper Stoy, Ulrik Pagh Schultz 2011
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
kang20053d 3d virtual prototyping of home service robots using asadal/objRobotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang 2005 unknown ASADAL/OBJ
ramadorai1994generic A generic kinematics software packageRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on Arvind K Ramadorai, U Ganapathy, F Guida 1994 unknown 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
bordignon2011generalized Generalized programming of modular robots through kinematic configurationsIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on Mirko Bordignon, Kasper Stoy, Ulrik Pagh Schultz 2011
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
kanayama2000s It's time to make mobile robots programmableRobotics and Automation, 2000. Proceedings. ICRA'00. IEEE International Conference on Yutaka J Kanayama, C Thomas Wu 2000 unknown
kang20053d 3d virtual prototyping of home service robots using asadal/objRobotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on Kyo Chul Kang, Moonzoo Kim, Jaejoon Lee, Byungkil Kim, Youngjin Hong, Hyoungki Lee, Seokwon Bang 2005 unknown ASADAL/OBJ
klotzbucher2011reusable Reusable hybrid force-velocity controlled motion specifications with executable domain specific languagesIntelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on download M Klotzbucher, Ruben Smits, Herman Bruyninckx, Joris De Schutter 2011 unknown unknown
manikonda1995motion A motion description language and a hybrid architecture for motion planning with nonholonomic robotsRobotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on Vikram Manikonda, Perinkulam S Krishnaprasad, James Hendler 1995 other none
ramadorai1994generic A generic kinematics software packageRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on Arvind K Ramadorai, U Ganapathy, F Guida 1994 unknown none
vanthienen2013rapid Rapid application development of constrained-based task modelling and execution using domain specific languagesIntelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on Dominick Vanthienen, M Klotzbuucher, Joris De Schutter, Tinne De Laet, Herman Bruyninckx 2013 unknown EMF + internal (lua)