@phdthesis{Shakhimardanov2015,
  author    = {Azamat Shakhimardanov},
  title     = {Composable Robot Motion Stack},
  year      = {2015},
  abstract  = {Over the last 50 years, the controlled motion of robots has become a very mature domain of expertise. It can deal with all sorts of topologies and types of joints and actuators, with kinematic as well as dynamic models of devices, and with one or several tools or sensors attached to the mechanical structure. Nevertheless, the domain has not succeeded in standardizing the modelling of robot devices (including such fundamental entities as “reference frames”!), let alone the semantics of their motion specification and control. This thesis aims to solve this long-standing problem, from three different sides: semantic models for robot kinematics and dynamics, semantic models of all possible motion specification and control problems, and software that can support the latter while being configured by a systematic use of the former.},
  language  = {en}
}