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<h1>Robotics DSL Zoo</h1>
<h2>Subdomain „Mechanisms and Actuation“</h2>
<p>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.</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="#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="#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="#roehr2014reconfigurable" id="roehr2014reconfigurable">roehr2014reconfigurable<a/></td><td style="font-weight:bold;">Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration</td><td>Roehr, Thomas M and Cordes, Florian and Kirchner, Frank</td><td>2014</td>
<td></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="#fryer1998resource" id="fryer1998resource">fryer1998resource<a/></td><td style="font-weight:bold;">Resource modelling and combination in modular robotics systems</td><td>Fryer, J Andrew and McKee, Gerard T</td><td>1998</td>
<td>unknown</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="#kilgo2012visual" id="kilgo2012visual">kilgo2012visual<a/></td><td style="font-weight:bold;"><a href="http://rd.springer.com/chapter/10.1007%2F978-3-642-34327-8_14">A Visual Modeling Language for RDIS and ROS Nodes Using AToM3</a></td><td>Kilgo, Paul and Syriani, Eugene and Anderson, Monica</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kitagishi2002development" id="kitagishi2002development">kitagishi2002development<a/></td><td style="font-weight:bold;">Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks</td><td>Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi</td><td>2002</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#roehr2014reconfigurable" id="roehr2014reconfigurable">roehr2014reconfigurable<a/></td><td style="font-weight:bold;">Reconfigurable integrated multirobot exploration system (RIMRES): heterogeneous modular reconfigurable robots for space exploration</td><td>Roehr, Thomas M and Cordes, Florian and Kirchner, Frank</td><td>2014</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#schneider2014declarative" id="schneider2014declarative">schneider2014declarative<a/></td><td style="font-weight:bold;">Declarative specification of task-based grasping with constraint validation</td><td>Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K</td><td>2014</td>
<td>ecore</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="#barth2012goto" id="barth2012goto">barth2012goto<a/></td><td style="font-weight:bold;">A GOTO-based concept for intuitive robot programming</td><td>Barth, Katharina and Henrich, Dominik</td><td>2012</td>
<td>other</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#fleury1994design" id="fleury1994design">fleury1994design<a/></td><td style="font-weight:bold;">Design of a modular architecture for autonomous robot</td><td>Fleury, Sara and Herrb, Matthieu and Chatila, Raja</td><td>1994</td>
<td>unknown</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="#kilgo2012visual" id="kilgo2012visual">kilgo2012visual<a/></td><td style="font-weight:bold;"><a href="http://rd.springer.com/chapter/10.1007%2F978-3-642-34327-8_14">A Visual Modeling Language for RDIS and ROS Nodes Using AToM3</a></td><td>Kilgo, Paul and Syriani, Eugene and Anderson, Monica</td><td>2012</td>
<td></td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#kitagishi2002development" id="kitagishi2002development">kitagishi2002development<a/></td><td style="font-weight:bold;">Development of motion data description language for robots based on eXtensible Markup Language-realization of better understanding and communication via networks</td><td>Kitagishi, Ikuo and Machino, Tamotsu and Nakayama, Akira and Iwaki, Satoshi and Okudaira, Masashi</td><td>2002</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#ljungkrantz2007implementing" id="ljungkrantz2007implementing">ljungkrantz2007implementing<a/></td><td style="font-weight:bold;">Implementing a control system framework for automatic generation of manufacturing cell controllers</td><td>Ljungkrantz, Oscar and Akesson, K and Richardsson, Johan and Andersson, Kristin</td><td>2007</td>
<td>XSD</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#nilas2004innovative" id="nilas2004innovative">nilas2004innovative<a/></td><td style="font-weight:bold;">An innovative high-level human-robot interaction for disabled persons</td><td>Nilas, Phongchai and Rani, Pramila and Sarkar, Nilanjan</td><td>2004</td>
<td>unknown</td>
</tr>
<tr style="border-top:1px solid #000;">
<td><a href="#schneider2014declarative" id="schneider2014declarative">schneider2014declarative<a/></td><td style="font-weight:bold;">Declarative specification of task-based grasping with constraint validation</td><td>Schneider, Sven and Hochgeschwender, Nico and Kraetzschmar, Gerhard K</td><td>2014</td>
<td>ecore</td>
</tr>
</tbody></table><br />
</div>
</div>
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<br />
<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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