Robotics DSL Zoo

Subdomain

Mechanisms and Actuation

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.

11 publications

Publications per development phase
  1. Scenario Building 0
  2. Functional Design 3
  3. Platform Building 7
  4. Capability Building 8
  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
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
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
roehr2014reconfigurable Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space explorationJournal of Field Robotics Thomas M Roehr, Florian Cordes, Frank Kirchner 2014

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
fryer1998resource Resource modelling and combination in modular robotics systemsRobotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on J Andrew Fryer, Gerard T McKee 1998 unknown 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
kilgo2012visual A Visual Modeling Language for RDIS and ROS Nodes Using AToM3Simulation, Modeling, and Programming for Autonomous Robots Paul Kilgo, Eugene Syriani, Monica Anderson 2012 AToM3
kitagishi2002development Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networksIntelligent Robots and Systems, 2002. IEEE/RSJ International Conference on Ikuo Kitagishi, Tamotsu Machino, Akira Nakayama, Satoshi Iwaki, Masashi Okudaira 2002 XSD unknown
ljungkrantz2007implementing Implementing a control system framework for automatic generation of manufacturing cell controllersRobotics and Automation, 2007 IEEE International Conference on Oscar Ljungkrantz, K Akesson, Johan Richardsson, Kristin Andersson 2007 XSD
roehr2014reconfigurable Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space explorationJournal of Field Robotics Thomas M Roehr, Florian Cordes, Frank Kirchner 2014
schneider2014declarative Declarative specification of task-based grasping with constraint validationIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on Sven Schneider, Nico Hochgeschwender, Gerhard K Kraetzschmar 2014 ecore xtext

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
barth2012goto A GOTO-based concept for intuitive robot programmingIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on Katharina Barth, Dominik Henrich 2012 other none
fleury1994design Design of a modular architecture for autonomous robotRobotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on Sara Fleury, Matthieu Herrb, Raja Chatila 1994 unknown Lex, Yacc
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
kilgo2012visual A Visual Modeling Language for RDIS and ROS Nodes Using AToM3Simulation, Modeling, and Programming for Autonomous Robots Paul Kilgo, Eugene Syriani, Monica Anderson 2012 AToM3
kitagishi2002development Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networksIntelligent Robots and Systems, 2002. IEEE/RSJ International Conference on Ikuo Kitagishi, Tamotsu Machino, Akira Nakayama, Satoshi Iwaki, Masashi Okudaira 2002 XSD unknown
ljungkrantz2007implementing Implementing a control system framework for automatic generation of manufacturing cell controllersRobotics and Automation, 2007 IEEE International Conference on Oscar Ljungkrantz, K Akesson, Johan Richardsson, Kristin Andersson 2007 XSD
nilas2004innovative An innovative high-level human-robot interaction for disabled personsRobotics and Automation, 2004. Proceedings. ICRA'04. 2004 IEEE International Conference on Phongchai Nilas, Pramila Rani, Nilanjan Sarkar 2004 unknown unknown
schneider2014declarative Declarative specification of task-based grasping with constraint validationIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on Sven Schneider, Nico Hochgeschwender, Gerhard K Kraetzschmar 2014 ecore xtext