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Domain-Specific Languages (DSLs) help practitioners in contributing solutions to challenges of specific domains. The efficient development of user-friendly DSLs suitable for industrial practitioners with little expertise in modelling still…
Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…
In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe…
This work-in-progress paper presents our work with a domain specific language (DSL) for tackling the issue of programming robots for small-sized batch production. We observe that as the complexity of assembly increases so does the…
Most commercial manufacturers of industrial robots require their robots to be programmed in a proprietary language tailored to the domain - a typical domain-specific language (DSL). However, these languages oftentimes suffer from…
This paper discusses a Domain Specific Language (DSL) that has been developed to enable implementation of concepts of discrete mathematics. A library of data types and functions provides functionality which is frequently required by users.…
It is difficult to create robust, reusable, and reactive behaviors for robots that can be easily extended and combined. Frameworks such as Behavior Trees are flexible but difficult to characterize, especially when designing reactions and…
With the rapid development of more complex robots, Fault Detection and Diagnosis (FDD) becomes increasingly harder. Especially the need for predetermined models and historic data is problematic because they do not encompass the dynamic and…
Soft robots are gaining popularity thanks to their intrinsic safety to contacts and adaptability. However, the potentially infinite number of Degrees of Freedom makes their modeling a daunting task, and in many cases only an approximated…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
Service robots act in open-ended, natural environments. Therefore, due to combinatorial explosion of potential situations, it is not possible to foresee all eventualities in advance during robot design. In addition, due to limited resources…
Inverse dynamics is used extensively in robotics and biomechanics applications. In manipulator and legged robots, it can form the basis of an effective nonlinear control strategy by providing a robot with both accurate positional tracking…
This paper presents a new theory, known as robust dynamic pro- gramming, for a class of continuous-time dynamical systems. Different from traditional dynamic programming (DP) methods, this new theory serves as a fundamental tool to analyze…
Designing a new domain specific language is as any other complex task sometimes error-prone and usually time consuming, especially if the language shall be of high-quality and comfortably usable. Existing tool support focuses on the…
The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different…
Most real world language problems require learning from heterogenous corpora, raising the problem of learning robust models which generalise well to both similar (in domain) and dissimilar (out of domain) instances to those seen in…
While application software does the real work, domain-specific languages (DSLs) are tools to help produce it efficiently, and language design assistants in turn are meta-tools to help produce DSLs quickly. DSLs are already in wide use (HTML…
Soft robots can execute tasks with safer interactions. However, control techniques that can effectively exploit the systems' capabilities are still missing. Differential dynamic programming (DDP) has emerged as a promising tool for…
In an era dominated by data, the management and utilization of domain-specific language have emerged as critical challenges in various application domains, particularly those with industry-specific requirements. Our work is driven by the…
External or internal domain-specific languages (DSLs) or (fluent) APIs? Whoever you are -- a developer or a user of a DSL -- you usually have to choose your side; you should not! What about metamorphic DSLs that change their shape according…