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Rigid body dynamics algorithms play a crucial role in several components of arobot controller and simulations. Real time constraints in high frequencycontrol loops and time requirements of specific applications demand thesefunctions to be very efficient. Despite the availability of establishedalgorithms, their efficient implementation for a specific robot still is atedious and error-prone task. However, these components are simply necessary toget high performance controllers.  To achieve efficient yet well maintainable implementations of dynamicsalgorithms we propose to use a domain specific language to describe thekinematics/dynamics model of a robot. Since the algorithms are parameterized onthis model, executable code tailored for a specific robot can be generated,thanks to the facilities available for \dsls. This approach allows the users todeal only with the high level description of their robot and relieves them fromproblematic hand-crafted development; resources and efforts can then be focusedon open research questions.  Preliminary results about the generation of efficient code for inversedynamics will be presented as a proof of concept of this approach.

A Domain Specific Language for kinematic models and fast implementations of robot dynamics algorithms