A Domain-Specific Language and Simulation Architecture for the Oncilla Robot*

We present an experimentation environment for the exploration of rich motor skills on a quadruped robot. We introduce a simulation platform around the (open) quadruped robot ’Oncilla’ that is integrated with a domain-specific language (DSL) tool-chain for modeling and execution of reproducible movement experiments. The Webots-based simulator, shown in a Screenshot in Figure 1, features an open source and cross-platform (Linux and Mac OS) interface with taxonomic structure and rich sensor feedback. By providing a common abstracted interface for both simulation and hardware, it enables faster and easier transfer of experiments between these two domains. This interface is accessible through a local C++ interface as well as remotely via an open-source middleware in with C++, Java, Python, and Common Lisp bindings for extended language and tool support. Integrated with the common interface, a DSL-based environment around the simulator allows compact formulation of experiments in domain-specific terminology and eased generation of reproducible artifacts for experimentation. We present how movement architectures and dynamical-systemsbased components of different partners of the AMARSi project are incorporated in the development of the DSL and the experimentation toolchain.