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.
25 publications
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- 2015
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| 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 |
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| 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 |
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.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| 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 |
Sensing and Estimation
Sensing and Estimation ranges from robot-state estimation for feedback control to task-oriented interpretation of sensor data of any kind. Apart from estimation techniques, this category also covers different kinds of information representations. This subdomain corresponds to Part A, Chapter 4 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| 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 |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception ArchitecturesSimulation, Modeling, and Programming for Autonomous Robots | Nico Hochgeschwender, Sven Schneider, Holger Voos, Gerhard K Kraetzschmar | 2014 | ecore | xtext |
| 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 | |
| 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 | |
| ramaswamy2014solution | Solution space modeling for robotic systemsJournal for Software Engineering Robotics (JOSER) | Arun Kumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
Motion Planning
Motion Planning covers collision-free trajectory planning for mobile platforms as well as robot actuators. This subdomain corresponds to Part A, Chapter 5 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| 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 |
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.
| 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 |
Architectures and Programming
Architectures and Programming refers to the way a robotic system is designed on the software-level. It can be divided into architectural structure and architectural style. The structure is represented by how the system is split up into subsystems and how they interact with each other. The style however addresses the underlying computational concepts. This subdomain corresponds to Part A, Chapter 8 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| anderson2012rdis | RDIS: Generalizing Domain Concepts to Specify Device to Framework MappingsRobotics and Automation (ICRA), 2012 IEEE International Conference on | Monica Anderson, Jason Bowman, Paul Kilgo | 2012 | ANTLR grammar | unknown |
| 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 | ||
| causse1993man | A man machine interface for a mobile robotIntelligent Robots and Systems' 93, IROS'93. Proceedings of the 1993 IEEE/RSJ International Conference on | Olivier Causse, James L Crowley | 1993 | (E)BNF | unknown |
| datta2012robostudio | Robostudio: A visual programming environment for rapid authoring and customization of complex services on a personal service robotIntelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on | Chandan Datta, Chandimal Jayawardena, I Han Kuo, Bruce A MacDonald | 2012 | unknown | Netbeans |
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and ValidationSimulation, Modeling, and Programming for Autonomous Robots | Nicolas Gobillot, Charles Lesire, David Doose | 2014 | unknown | EMF/GMF |
| gritzner2018synthesizing | Synthesizing Executable PLC Code for Robots from Scenario-Based GR(1) SpecificationsSoftware Technologies: Applications and Foundations website | Daniel Gritzner, Joel Greenyer | 2018 | ScenarioTools | |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception ArchitecturesSimulation, Modeling, and Programming for Autonomous Robots | Nico Hochgeschwender, Sven Schneider, Holger Voos, Gerhard K Kraetzschmar | 2014 | 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 |
| 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 |
| 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 |
| lesire2012mauve | Mauve: a Component-based Modeling Framework for Real-time Analysis of Robotic Applications.7th full day Workshop on Software Development and Integration in Robotics (ICRA2012-SDIR VII) | Charles Lesire, David Doose, Hugues Cassé | 2012 | ecore | xtext |
| 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 | |
| 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 |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robotsRobotics and Automation, IEEE Transactions on | Fabrice R Noreils, Raja G Chatila | 1995 | (E)BNF | unknown |
| ramaswamy2014saferobots | SafeRobots: A model-driven Framework for developing Robotic SystemsIntelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on | Anand Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ramaswamy2014solution | Solution space modeling for robotic systemsJournal for Software Engineering Robotics (JOSER) | Arun Kumar Ramaswamy, Bruno Monsuez, Adriana Tapus | 2014 | ecore | EMF/GMF |
| ringert2015language | Language and code generator composition for model-driven engineering of robotics component & connector systemsJOURNAL OF SOFTWARE ENGINEERING IN ROBOTICS websitedownload | Jan Oliver Ringert, Roth Alexander, Rumpe Bernhard, Wortmann Andreas | 2015 | MontiArcAutomaton | |
| 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 |
Reasoning Methods
Reasoning Methods focuse on symbol-based reasoning and knowledge representation. It covers logic- as well as probability-based approaches. Furthermore, this category also addresses learning, such as inductive logic learning, neuronal networks and reinforcement learning. This subdomain corresponds to Part A, Chapter 9 in the Handbook of Robotics.
| Key | Title | Authors | Year | Formalism | Tool |
|---|---|---|---|---|---|
| bocionek1990generating | Generating expert systems for configuration tasksRobotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on | S Bocionek, P Buchka, J Schweiger | 1990 | ||
| gobillot2014modeling | A Modeling Framework for Software Architecture Specification and ValidationSimulation, Modeling, and Programming for Autonomous Robots | Nicolas Gobillot, Charles Lesire, David Doose | 2014 | unknown | EMF/GMF |
| hochgeschwender2014declarative | Declarative Specification of Robot Perception ArchitecturesSimulation, Modeling, and Programming for Autonomous Robots | Nico Hochgeschwender, Sven Schneider, Holger Voos, Gerhard K Kraetzschmar | 2014 | ecore | xtext |
| noreils1995plan | Plan execution monitoring and control architecture for mobile robotsRobotics and Automation, IEEE Transactions on | Fabrice R Noreils, Raja G Chatila | 1995 | (E)BNF | unknown |
| 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 |