Towards Robot-independent Manipulation Behavior Description
This work addresses the challenge of robot hardware and application dependency in manipulation behavior design, but it appears incremental as it builds on existing software frameworks and models.
The paper tackles the problem of designing robot manipulation behaviors that are independent of specific hardware and applications by using an embedded domain-specific language (eDSL) to describe robots and control networks, resulting in the development of an eDSL for robotic systems and multi-stage control networks.
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 the particular robot and a controller network that drives the robot. We make use of a) a component-based software framework, b) model-based algorithms for motion- and sensor processing representations, c) an abstract model of the control system, and d) a plan management software, to describe a sequence of software component networks that generate the desired robot behavior. As first results, we present an eDSL for the description of a robotic system composed of mechatronic subsystems, and for the creation of a multi-stage control network.