Modeling of movement control architectures based on motion primitives using domain-specific languages

Nordmann, Arne; Wrede, Sebastian; Steil, Jochen J.

doi:10.1109/icra.2015.7139899

Cited by 12 publications

(9 citation statements)

References 21 publications

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“…In this connection, domain-specific MDE approaches to represent the architectural structures are proposed by several authors. In [30] the authors propose a language workbench to engineer complex movement control architectures based on motion primitives and their coordination. In [33] the authors propose the SafeRobots Eclipse-based toolchain integrating textual and graphical DSLs for specifying and developing robotic systems.…”

Section: Robotics-specific Mde Approachesmentioning

confidence: 99%

Software Product Line Engineering for Robotic Perception Systems

Brugali

Hochgeschwender

2018

Int. J. Semantic Computing

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Control systems for autonomous robots are concurrent, distributed, embedded, real-time and data intensive software systems. A real-world robot control system is composed of tens of software components. For each component providing robotic functionality, tens of different implementations may be available. The difficult challenge in robotic system engineering consists in selecting a coherent set of components, which provide the functionality required by the application requirements, taking into account their mutual dependencies. This challenge is exacerbated by the fact that robotics system integrators and application developers are usually not specifically trained in software engineering. In various application domains, software product line (SPL) development has proven to be the most effective approach to face this kind of challenges. In a previous paper [D. Brugali and N. Hochgeschwender, Managing the functional variability of robotic perception systems, in First IEEE Int. Conf. Robotic Computing, 2017, pp. 277–283.] we have presented a model-based approach to the development of SPL for robotic perception systems, which integrates two modeling technologies developed by the authors: The HyperFlex toolkit [L. Gherardi and D. Brugali, Modeling and reusing robotic software architectures: The HyperFlex toolchain, in IEEE Int. Conf. Robotics and Automation, 2014, pp. 6414–6420.] and the Robot Perception Specification Language (RPSL) [N. Hochgeschwender, S. Schneider, H. Voos and G. K. Kraetzschmar, Declarative specification of robot perception architectures, in 4th Int. Conf. Simulation, Modeling, and Programming for Autonomous Robots, 2014, pp. 291–302.]. This paper extends our previous work by illustrating the entire development process of an SPL for robot perception systems with a real case study.

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Section: Robotics-specific Mde Approachesmentioning

confidence: 99%

Software Product Line Engineering for Robotic Perception Systems

Brugali

Hochgeschwender

2018

Int. J. Semantic Computing

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“…Schlegel et al (2015) and Thomas et al (2013) strive in their approaches to divide tasks into different complexity levels to reduce the knowledge required to adapt a robot to new but similar tasks. A different type of architecture for robot skill specification was proposed by Nordmann et al (2015). They fuse methods of software design and classical motion primitives to form a modeldriven approach for complex motion control architectures.…”

Section: Robot Development Environmentsmentioning

confidence: 99%

The ArmarX Statechart Concept: Graphical Programing of Robot Behavior

et al. 2016

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Programing sophisticated robots, such as service robots or humanoids, are still a complex endeavor. Although programming robotic applications requires specialist knowledge, a robot software environment should support convenient development, while maintaining full flexibility needed when realizing challenging robotics tasks. In addition, several desirable properties should be fulfilled, such as robustness, reusability of existing programs, and skill transfer between robots. In this work, we introduce the ArmarX statechart concept, which is used for describing control and data flow of robot programs. This event-driven statechart approach of ArmarX helps realizing important features, such as increased robustness through distributed program execution, convenient programming through graphical user interfaces, and versatility by interweaving dynamic statechart structure with custom user code. We show that using hierarchical and distributed statecharts increases reusability, allows skill transfer between robots, and hides complexity in robot programming by splitting robot behavior into control flow and functionality.

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“…During that time, Hasegawa et al [4] encouraged the modeling of high-level robotic tasks in combination with the explicit modeling of the environment. Nowadays, DSLs are frequently used in various robotic (sub-)domains [3], such as robot control [7], behavior or motion planning [8], and component-based systems [9]. In the domain of robot motion control and planning, DSLs are commonly employed on different levels.…”

Section: Introductionmentioning

confidence: 99%

Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

Wigand

Dehio

Wrede

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In recent years the need for manipulation tasks in the industrial as well as in the service robotics domain that require compliant interaction with the environment rose. Since then, an increased number of publications use a model-driven approach to describe these tasks. High-level tasks and sequences of skills are coordinated to achieve a desired motion for e.g., screwing, polishing, or snap mounting [1], [2]. Even though the awareness of the environment, especially in terms of contact situations, is essential for successful task execution, it is too often neglected or considered insufficiently. In this paper, we present a model-based approach, using domain-specific languages (DSL), that enables the explicit modeling of the environment in terms of contact situations. Decoupling the environment model from the skills, fosters exchangeability and allows the adaptation to different environmental situations. This way, an explicit but non-invasive link is established to the skills, enabling the environment model to provide a context to constrain the execution of the skills. Further, we present a synthesis from the modeled contact situations to a real-time component-based control architecture, which executes the skills subject to the active environmental context. A dual arm yoga mat rolling task is used to show the impact of the environment model on the skill execution.

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Modeling of movement control architectures based on motion primitives using domain-specific languages

Cited by 12 publications

References 21 publications

Software Product Line Engineering for Robotic Perception Systems

Software Product Line Engineering for Robotic Perception Systems

The ArmarX Statechart Concept: Graphical Programing of Robot Behavior

Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

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