  Model-driven software development is a promising way to cope with the
complexity of system integration in advanced robotics, as it already
demonstrated its benefits in domains with comparably challenging system
integration requirements. This paper reports on work in progress in this area
which aims to improve the research and experimentation process in a
collaborative research project developing motor skill architectures for
compliant robots. Our goal is to establish a model-driven development process
throughout the project around a domain-specific language (DSL) facilitating the
compact description of adaptive modular architectures for rich motor skills.
Incorporating further languages for other aspects (e.g. mapping to a technical
component architecture) the approach allows not only the formal description of
motor skill architectures but also automated code-generation for
experimentation on technical robot platforms. This paper reports on a first
case study exemplifying how the developed AMARSi DSL helps to conceptualize
different architectural approaches and to identify their similarities and
differences.
