Getting Started with Aibo and Tekkotsu

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Getting Started with Aibo and Tekkotsu
Tekkotsu - (iron bones) - Controller overlay
and development environment from CMU
OPENR-SDK - basic developers kit from Sony
(model specific)
Aperios - firmware OS in Aibo
Aibo (friend)
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AIBO
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Hardware

• Sensors -
• 320 line CCD camera with color segmentation
  hardware
• IR distance sensors (2 on ERS-7), one on ERS 210
• Position encoders for all joints actuator motors
  (see below)
• Stereo Microphone
• Touch sensors (switches) head (1), back (3/ers7,
  1/ers210), chin
• Accelerometer for detecting falls and pick-ups
• Switch sensors on each paw pad

• Actuation motors and Outputs
• Joint actuation motors (one per paren)
• Tail (left/right)
• Neck (up/down)
• Head (left/right) (up/down)
• Hip/shoulder- per leg (in/out) (forward
  backward)
• Knee, (bend position)
• Ankle (bend position)
• Audio channel
• Networking and removable media
• 803/11g wireless network channel
• removeable memory stick slot.

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Aibo Programming Model

• An Aibo program is a collection of
  concurrent/event driven threads called
  BEHAVIORS

Example Head tracks of object in visual field,
barks and wags tail when object found
Behavior (foreground)
Behavior (foreground)
Behavior (background)
Behavior (foreground)
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Shared Objects

• WorldState Object- Shared memory region that
  holds the current state of all sensors and
  actuators
• Updated in background every 30ms
• read by behavior
• Motion Objects - one unique object for each
  motion, i.e. move head to a specific position
• Several canned ones w/Tekkotsu or you can write
  your own
• Named ltmotiongtMC.cc (.h) by convention
• Executed through the motion manager process
• More later

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Behavior Class template

• //--c--
• ifndef INCLUDED_happyBehavior_h_
• define INCLUDED_happyBehavior_h_
• include "Events/EventRouter.h"
• include "Behaviors/BehaviorBase.h"
• include "Motion/MotionManager.h"
• include "Motion/MotionSequenceMC.h"
• class happyBehavior public BehaviorBase
• public
• happyBehavior() BehaviorBase(),
• stand_id(MotionManagerinvalid_MC_ID),
• stand()
• // initialiation of stand up behavior
• stand-gtsetPlayTime(700) // 700 milliseconds to
  stand up
• stand-gtsetPose(PostureEngine("/ms/data/motion/si
  tup.pos"))

Includes for Motions Events Base-behaviors
Constructor must run constructor for base class

• DoStart()
• runs each time behavior activates

• DoStop()
• runs each time behavior deactivates

• EventHander(event)
• Runs on incoming event

For debugging
Intermal data structures
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How Tekkotsu Works
www.tekkotsu.org