aibo at ltu

Steven Kryskalla

Emily Trudell

intro

• Steven Kryskalla • Emily Trudell

• Also appearing today:– Aibo 2 – Aibo 3

Aibo 4: “Laika”IP: 192.168.0.44S/N: 4000808MAC: 0010C6244C16

Model: ERS-7M1Age: 10 months old

Aibo 1: “Rufus”IP: 192.168.0.41S/N: 4000810MAC: 0010C6244C08

Model: ERS-7M1Age: 1 year old

hardware

• Camera– 30 fps

– 56.9° wide, 45.2° high

• LEDs– Illume-face panel

– 26 other LEDS

• Sound:– Speaker

– MIDI

• Memory stick reader / writer• 576 MHz MIPS Processor• 64 MB RAM• 802.11b Wireless LAN• 18 independent PID joints

sensors• IR Sensors

– Chest (edge)

– Nose (near)

– Nose (far)

• Stereo Microphones– Left ear

– Right ear

• Accelerometer– x, y, and z movement

• Buttons / Touch sensors– Four paws

– Head

– Chin

– Back

• Environmental sensors:– Battery level

– Temperature

– Voltage

– Current

• Sensor update every 32ms

platform features

• Impressive package of features

• Full control over the system– Motion– Sound– Vision

development

• Where???

• Platform: Tekkotsu

• Environment: Cygwin

• Language: C++

• Tools:– Creating motions– Training the vision system– Monitoring / debugging

opportunity

• Great undergraduate research opportunity

• Have fun

• Learn a lot

• Travel

• Work on a ‘big’ project

and now…

Our main attraction

Some example behaviors

white color demo

penalty goalie

chase & kick state machine

• Search

• Track

• Kick

• Wait

maze

dance!

thank you

• Questions?

• Talk to us if you are interested

• Feel free to visit