Application of domain-specific modeling in kinetography and bipedal humanoid robot control

摘要

The article presents a new approach in the development of software for bipedal humanoid robot controllers, based on the construction and application of graphic domain-specific languages (DSLs). The notations used to describe dance movements and gestures are typical examples of DSLs. With certain extensions, related to the description of foot topology, sensors and actuators, such DSLs are applicable for modeling dance movements that would be performed by a robot. The existing software development methodologies in robotics have a purely mechanistic approach to understanding and implementing robotic tasks. Such an approach in humanoid robotics complicates the understanding of the problem, as well as the specification and implementation of solutions. Our approach, which uses DSLs, adopts complex movements and gestures performed by the feet of dancers using professional dancers, people with above-average motor skills, as reference. We believe that the developed software can also be successfully applied to assistive robots that would help people with special needs whose mobility is significantly lower than average.