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

摘要

This paper introduces a model-driven approach for engineering complex movement control architectures based on motion primitives, which in recent years have been a central development towards adaptive and flexible control of complex and compliant robots. We consider rich motor skills realized through the composition of motion primitives as our domain. In this domain we analyze the control architectures of representative example systems to identify common abstractions. It turns out that the introduced notion of motion primitives implemented as dynamical systems with machine learning capabilities, provide the computational building block for a large class of such control architectures. Building on the identified concepts, we introduce domain-specific languages that allow the compact specification of movement control architectures based on motion primitives and their coordination respectively. Using a proper tool chain, we show how to employ this model-driven approach in a case study for the real world example of automatic laundry grasping with the KUKA LWR-IV, where executable source-code is automatically generated from the domain-specific language specification.