Motion Control
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.
25 publications
- 1985
- 1990
- 1995
- 2000
- 2005
- 2010
- 2015
Scenario Building
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 | Tool |
|---|---|---|---|---|---|
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action LibrarySimulation, Modeling, and Programming for Autonomous Robots | Jacob Pørksen Buch, Johan Sund Laursen, Lars Carøe Sørensen, Lars-Peter Ellekilde, Dirk Kraft, Ulrik Pagh Schultz, Henrik Gordon Petersen | 2014 | (E)BNF | unknown |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
| 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 |
| 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 | |
| kress2007structured | From structured english to robot motionIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Hadas Kress-Gazit, Georgios E Fainekos, George J Pappas | 2007 | LTL | none |
| 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 |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific LanguagesInternational Conference on Robotics and Automation (ICRA) | Arne Nordmann, Sebastian Wrede, Jochen J. Steil | 2015 | MPS | |
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P StatechartsRobotics and Automation (ICRA), 2013 IEEE International Conference on | Ulrike Thomas, Gerd Hirzinger, Bernhard Rumpe, Christoph Schulze, Andreas Wortmann | 2013 | other | Monticore |
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| kim2003task | Task description language for underwater robotsIntelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on | Tae Won Kim, Junku Yuh | 2003 | (E)BNF | unknown |
| 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 |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven ApproachSimulation, Modeling, and Programming for Autonomous Robots | Matteo Morelli, Marco Di Natale | 2014 | ecore | EMF/GMF |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming languageIntelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on | Hiroyuki Nishiyama, Hayato Ohwada, Fumio Mizoguchi | 1998 | unknown | unknown |
| 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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| 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 |
| buch2014applying | Applying Simulation and a Domain-Specific Language for an Adaptive Action LibrarySimulation, Modeling, and Programming for Autonomous Robots | Jacob Pørksen Buch, Johan Sund Laursen, Lars Carøe Sørensen, Lars-Peter Ellekilde, Dirk Kraft, Ulrik Pagh Schultz, Henrik Gordon Petersen | 2014 | (E)BNF | unknown |
| burbidge2009grammatical | Grammatical evolution of a robot controllerIntelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on | Robert Burbidge, Joanne H Walker, Myra S Wilson | 2009 | (E)BNF | |
| dantam2013correct | Correct Software Synthesis for Stable Speed-Controlled Robotic Walking.Robotics: Science and Systems | Neil Dantam, Ayonga Hereid, Aaron D Ames, Mike Stilman | 2013 | CFG? | none |
| fayman1999av | AV-shell, an environment for autonomous robotic applications using active visionAutonomous Robots | Jeffrey A Fayman, Ehud Rivlin, Henrik I Christensen | 1999 | unknown | unknown |
| finucane2010ltlmop | LTLMoP: Experimenting with language, temporal logic and robot controlIntelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on | Cameron Finucane, Gangyuan Jing, Hadas Kress-Gazit | 2010 | LTL | unknown |
| graves1999distributed | Distributed generic control for multiple types of telerobotRobotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on | Alan R Graves, Chris Czarnecki | 1999 | unknown | unknown |
| 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 | |
| kim2003task | Task description language for underwater robotsIntelligent Robots and Systems, 2003.(IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on | Tae Won Kim, Junku Yuh | 2003 | (E)BNF | unknown |
| 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 |
| 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 |
| kress2007structured | From structured english to robot motionIntelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on | Hadas Kress-Gazit, Georgios E Fainekos, George J Pappas | 2007 | LTL | none |
| 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 |
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven ApproachSimulation, Modeling, and Programming for Autonomous Robots | Matteo Morelli, Marco Di Natale | 2014 | ecore | EMF/GMF |
| nishiyama1998logic | Logic specifications for multiple robots based on a current programming languageIntelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on | Hiroyuki Nishiyama, Hayato Ohwada, Fumio Mizoguchi | 1998 | unknown | unknown |
| nordmann2015modeling | Modeling of Movement Control Architectures based on Motion Primitives using Domain-Specific LanguagesInternational Conference on Robotics and Automation (ICRA) | Arne Nordmann, Sebastian Wrede, Jochen J. Steil | 2015 | MPS | |
| 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 |
| thomas2013new | A New Skill Based Robot Programming Language Using UML/P StatechartsRobotics and Automation (ICRA), 2013 IEEE International Conference on | Ulrike Thomas, Gerd Hirzinger, Bernhard Rumpe, Christoph Schulze, Andreas Wortmann | 2013 | other | Monticore |
| utz2005hierarchical | Hierarchical behavior organizationIntelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on | Hans Utz, Gerhard Kraetzschmar, Gerd Mayer, Günther Palm | 2005 | XSD | |
| 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) |
| zhang2003control | Control of small formations using shape coordinatesRobotics and Automation, 2003. Proceedings. ICRA'03. IEEE International Conference on | Fumin Zhang, Michael Goldgeier, Perinkulam S Krishnaprasad | 2003 | SDD | MDLe engine |
System Deployment
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 | Tool |
|---|---|---|---|---|---|
| morelli2014control | Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven ApproachSimulation, Modeling, and Programming for Autonomous Robots | Matteo Morelli, Marco Di Natale | 2014 | ecore | EMF/GMF |
Not assigned to a development phase
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| Frigerio2011 | A Domain Specific Language for Kinematic Models and Fast Implementations of Robot Dynamics AlgorithmsWorkshop on Domain-Specific Languages and models for Robotic systems websitedownload | M. Frigerio, J. Buchli, D.G. Caldwell | 2011 | EMF xtext | |
| MuheDSLRob2010 | On reverse-engineering the KUKA Robot LanguageWorkshop on Domain-Specific Languages and models for Robotic systems | Henrik Mühe, Andreas Angerer, Alwin Hoffmann, Wolfgang Reif | 2010 | custom | |
| NordmannDSLRob2012 | A Domain-Specific Language for Rich Motor Skill ArchitecturesWorkshop on Domain-Specific Languages and models for Robotic systems | Arne Nordmann, Sebastian Wrede | 2012 | MPS |