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<h1>Robotics DSL Zoo</h1>
<h2>Subdomain „Kinematics“</h2>
<p>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.</p>
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<div id="chart_div_year" style="width: 550px; height: 200px; float:left;"></div><h3>Functional Design</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#frigerio2012model" id="frigerio2012model">frigerio2012model<a/></td><td style="font-weight:bold;">Model based code generation for kinematics and dynamics computations in robot controllers</td><td>Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#hornby2001evolution" id="hornby2001evolution">hornby2001evolution<a/></td><td style="font-weight:bold;">Evolution of generative design systems for modular physical robots</td><td>Hornby, Gregory S and Lipson, Hod and Pollack, Jordan B</td><td>2001</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kanayama2000s" id="kanayama2000s">kanayama2000s<a/></td><td style="font-weight:bold;">It s time to make mobile robots programmable</td><td>Kanayama, Yutaka J and Wu, C Thomas</td><td>2000</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#manikonda1995motion" id="manikonda1995motion">manikonda1995motion<a/></td><td style="font-weight:bold;">A motion description language and a hybrid architecture for motion planning with nonholonomic robots</td><td>Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James</td><td>1995</td>
<td>other</td>
</tr>
</tbody></table><br />
<h3>Platform Building</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#bordignon2011generalized" id="bordignon2011generalized">bordignon2011generalized<a/></td><td style="font-weight:bold;">Generalized programming of modular robots through kinematic configurations</td><td>Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramadorai1994generic" id="ramadorai1994generic">ramadorai1994generic<a/></td><td style="font-weight:bold;">A generic kinematics software package</td><td>Ramadorai, Arvind K and Ganapathy, U and Guida, F</td><td>1994</td>
<td>unknown</td>
</tr>
</tbody></table><br />
<h3>Capability Building</h3>
<p>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.</p>
<table class="sortable">
<thead><tr><th>Key</th><th>Title</th><th>Authors</th><th width="10%">Year</th><th>Formalism</th></tr></thead><tbody><tr style="border-top:1px solid #000;">
<td><a href="#aertbelien2014etasl" id="aertbelien2014etasl">aertbelien2014etasl<a/></td><td style="font-weight:bold;">eTaSL/eTC: A constraint-based task specification language and robot controller using expression graphs</td><td>Aertbeli\ en, Erwin and De Schutter, Joris</td><td>2014</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#bordignon2011generalized" id="bordignon2011generalized">bordignon2011generalized<a/></td><td style="font-weight:bold;">Generalized programming of modular robots through kinematic configurations</td><td>Bordignon, Mirko and Stoy, Kasper and Schultz, Ulrik Pagh</td><td>2011</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#frigerio2012code" id="frigerio2012code">frigerio2012code<a/></td><td style="font-weight:bold;"><a href="http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6385694">Code Generation of Algebraic Quantities for Robot Controllers</a></td><td>Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#frigerio2012model" id="frigerio2012model">frigerio2012model<a/></td><td style="font-weight:bold;">Model based code generation for kinematics and dynamics computations in robot controllers</td><td>Frigerio, Marco and Buchli, Jonas and Caldwell, Darwin G</td><td>2012</td>
<td>ecore</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#jara2011ejs+" id="jara2011ejs+">jara2011ejs+<a/></td><td style="font-weight:bold;">Ejs+ EjsRL: An interactive tool for industrial robots simulation, Computer Vision and remote operation</td><td>Jara, Carlos A and Candelas, Francisco A and Gil, Pablo and Torres, Fernando and Esquembre, Francisco and Dormido, Sebasti\ an</td><td>2011</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kanayama2000s" id="kanayama2000s">kanayama2000s<a/></td><td style="font-weight:bold;">It s time to make mobile robots programmable</td><td>Kanayama, Yutaka J and Wu, C Thomas</td><td>2000</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kang20053d" id="kang20053d">kang20053d<a/></td><td style="font-weight:bold;">3d virtual prototyping of home service robots using asadal/obj</td><td>Kang, Kyo Chul and Kim, Moonzoo and Lee, Jaejoon and Kim, Byungkil and Hong, Youngjin and Lee, Hyoungki and Bang, Seokwon</td><td>2005</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#klotzbucher2011reusable" id="klotzbucher2011reusable">klotzbucher2011reusable<a/></td><td style="font-weight:bold;">Reusable hybrid force-velocity controlled motion specifications with executable domain specific languages</td><td>Klotzbucher, M and Smits, Ruben and Bruyninckx, Herman and De Schutter, Joris</td><td>2011</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#manikonda1995motion" id="manikonda1995motion">manikonda1995motion<a/></td><td style="font-weight:bold;">A motion description language and a hybrid architecture for motion planning with nonholonomic robots</td><td>Manikonda, Vikram and Krishnaprasad, Perinkulam S and Hendler, James</td><td>1995</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ramadorai1994generic" id="ramadorai1994generic">ramadorai1994generic<a/></td><td style="font-weight:bold;">A generic kinematics software package</td><td>Ramadorai, Arvind K and Ganapathy, U and Guida, F</td><td>1994</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#vanthienen2013rapid" id="vanthienen2013rapid">vanthienen2013rapid<a/></td><td style="font-weight:bold;">Rapid application development of constrained-based task modelling and execution using domain specific languages</td><td>Vanthienen, Dominick and Klotzbuucher, M and De Schutter, Joris and De Laet, Tinne and Bruyninckx, Herman</td><td>2013</td>
<td>unknown</td>
</tr>
</tbody></table><br />
</div>
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<hr />
<p style="font-size:85%; color:#555;">An important DSL is missing? Here is how to <a href="./contribute.html">contribute</a>! When using content of the Robotics DSL Zoo or referring to it, pleace consider citing our survey paper:
<pre>
@article{nordmann2016survey,
author = {Nordmann, Arne and Hochgeschwender, Nico and Wigand, Dennis Leroy and Wrede, Sebastian},
journal = {Journal of Software Engineering in Robotics (JOSER)},
number = {1},
pages = {75--99},
title = {{A Survey on Domain-Specific Modeling and Languages in Robotics}},
volume = {7},
year = {2016},
}
</pre>
<br />
<a style="font-size:85%; color:#555;" title="A Survey on Domain-Specific Modeling and Languages in Robotics" href="http://joser.unibg.it/index.php?journal=joser&page=article&op=view&path%5B%5D=100">A. Nordmann, N. Hochgeschwender, D. Wigand and S. Wrede, “A Survey on Domain-Specific Modeling Languages in Robotics”, Journal of Software Engineering for Robotics (JOSER), 2016</a>
</p>
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