There are two previous major description languages: WSDL 2.0 (Web Services Description Language) and WADL (Web Application Description Language). Neither is widely adopted in the industry for describing RESTful APIs, citing poor human readability of both and WADL being actually unable to fully describe a RESTful API.2
The principle behind building RESTful APIs is known under the acronym HATEOAS (Hypermedia as the Engine of Application State). In this approach, the client software is not written to a static interface description shared through documentation. Instead, the client is given a set of entry points and the API is discovered dynamically through interaction with these endpoints. HATEOAS was introduced in Roy Fielding's doctoral thesis Architectural Styles and the Design of Network-based Software Architectures. HATEOAS is one of the key elements distinguishing REST from RPC mechanisms.3
Zhai, Juan; Huang, Jianjun; Ma, Shiqing; Zhang, Xiangyu; Tan, Lin; Zhao, Jianhua; Qin, Feng (2016-05-14). "Automatic model generation from documentation for Java API functions". Proceedings of the 38th International Conference on Software Engineering. ICSE '16. New York, NY, USA: Association for Computing Machinery. pp. 380–391. doi:10.1145/2884781.2884881. ISBN 978-1-4503-3900-1. S2CID 2733669. 978-1-4503-3900-1 ↩
"API Description Languages". 12 August 2014. https://www.slideshare.net/SOA_Software/api-description-languages ↩
Fielding, Roy. "REST APIs must be hypertext-driven". Retrieved 4 November 2015. http://roy.gbiv.com/untangled/2008/rest-apis-must-be-hypertext-driven ↩