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PyDSLRep: A domain-specific language for robotic simulation in V-Rep.
PLoS One. 2020; 15(7):e0235271.Plos

Abstract

Calculating forward and inverse kinematics for robotic agents is one of the most time-intensive tasks when controlling the robot movement in any environment. This calculation is then encoded to control the motors and validated in a simulator. The feedback produced by the simulation can be used to correct the code or to implement the code can be implemented directly in the robotic agent. However, the simulation process executes instructions that are not native to the robotic agents, extending development time or making it preferable to validate the code directly on the robot, which in some cases might result in severe damage to it. The use of Domain-Specific Languages help reduce development time in simulation tasks. These languages simplify code generation by describing tasks through an easy-to-understand language and free the user to use a framework or programming API directly for testing purposes. This article presents the language PyDSLRep, which is characterized by the connection and manipulation of movement in mobile robotic agents in the V-Rep simulation environment. This language is tested in three different environments by twenty people, against the framework given by V-Rep, demonstrating that PyDSLRep reduces the average development time by 45.22%, and the lines of code by 76.40% against the Python framework of V-Rep.

Authors+Show Affiliations

Department of Electronic Engineering, Los Libertadores Foundation University, Bogotá, Colombia.Department of Electronic Engineering, Los Libertadores Foundation University, Bogotá, Colombia.Department of Computer Science, University of Oviedo, Asturias, Spain.Department of Computer Science, International University of the Rioja, Avenida de la Paz, Logroño La Rioja, Spain.Department of Computer Science, University of Manchester, Manchester, United Kingdom.

Pub Type(s)

Journal Article

Language

eng

PubMed ID

32609761

Citation

Jiménez, Andrés C., et al. "PyDSLRep: a Domain-specific Language for Robotic Simulation in V-Rep." PloS One, vol. 15, no. 7, 2020, pp. e0235271.
Jiménez AC, Anzola JP, García-Díaz V, et al. PyDSLRep: A domain-specific language for robotic simulation in V-Rep. PLoS ONE. 2020;15(7):e0235271.
Jiménez, A. C., Anzola, J. P., García-Díaz, V., González Crespo, R., & Zhao, L. (2020). PyDSLRep: A domain-specific language for robotic simulation in V-Rep. PloS One, 15(7), e0235271. https://doi.org/10.1371/journal.pone.0235271
Jiménez AC, et al. PyDSLRep: a Domain-specific Language for Robotic Simulation in V-Rep. PLoS ONE. 2020;15(7):e0235271. PubMed PMID: 32609761.
* Article titles in AMA citation format should be in sentence-case
TY - JOUR T1 - PyDSLRep: A domain-specific language for robotic simulation in V-Rep. AU - Jiménez,Andrés C, AU - Anzola,John P, AU - García-Díaz,Vicente, AU - González Crespo,Rubén, AU - Zhao,Liping, Y1 - 2020/07/01/ PY - 2019/09/13/received PY - 2020/06/12/accepted PY - 2020/7/2/entrez PY - 2020/7/2/pubmed PY - 2020/7/2/medline SP - e0235271 EP - e0235271 JF - PloS one JO - PLoS ONE VL - 15 IS - 7 N2 - Calculating forward and inverse kinematics for robotic agents is one of the most time-intensive tasks when controlling the robot movement in any environment. This calculation is then encoded to control the motors and validated in a simulator. The feedback produced by the simulation can be used to correct the code or to implement the code can be implemented directly in the robotic agent. However, the simulation process executes instructions that are not native to the robotic agents, extending development time or making it preferable to validate the code directly on the robot, which in some cases might result in severe damage to it. The use of Domain-Specific Languages help reduce development time in simulation tasks. These languages simplify code generation by describing tasks through an easy-to-understand language and free the user to use a framework or programming API directly for testing purposes. This article presents the language PyDSLRep, which is characterized by the connection and manipulation of movement in mobile robotic agents in the V-Rep simulation environment. This language is tested in three different environments by twenty people, against the framework given by V-Rep, demonstrating that PyDSLRep reduces the average development time by 45.22%, and the lines of code by 76.40% against the Python framework of V-Rep. SN - 1932-6203 UR - https://www.unboundmedicine.com/medline/citation/32609761/PyDSLRep:_A_domain-specific_language_for_robotic_simulation_in_V-Rep L2 - https://dx.plos.org/10.1371/journal.pone.0235271 DB - PRIME DP - Unbound Medicine ER -
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