Djukić Verislav, Oros Dragana, Penčić Marko, Lu Zhenli
Faculty of Computer Engineering, Union University, Serbia, Belgrade, Serbia.
Djukic Software GmbH, Nürnberg, Germany.
PeerJ Comput Sci. 2025 May 27;11:e2864. doi: 10.7717/peerj-cs.2864. eCollection 2025.
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.
本文提出了一种基于图形领域特定语言（DSL）的构建与应用来开发双足人形机器人控制器软件的新方法。用于描述舞蹈动作和手势的符号是DSL的典型示例。通过与足部拓扑、传感器和执行器描述相关的特定扩展，此类DSL可用于对机器人要执行的舞蹈动作进行建模。机器人技术中现有的软件开发方法在理解和实现机器人任务方面采用了纯粹机械的方法。在人形机器人技术中，这种方法使问题的理解以及解决方案的规范和实现变得复杂。我们使用DSL的方法以专业舞者以及运动技能高于平均水平的人所表现出的复杂脚部动作和手势为参考。我们相信，所开发的软件也可成功应用于辅助机器人，以帮助行动能力明显低于平均水平的有特殊需求的人群。
