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

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.