Technical University of Catalonia GREC – Grup de Recerca Enginyeria Coneixement Creation of Behaviors using URBI Diego Pardo

Aibo Simple Reactive Behaviors Walk Posture Obstacle Detection Face Recognition Voice Recognition

The Basic Behaviors Walk Up Right 12DOF Gait Parameter Forward / Backwards / Turn Initialization Process Compatible with Others Behaviors

The Basic Behaviors Postures Sit / Stand / Lie Transitions Posture Detector

The Basic Behaviors Obstacle Detection Cliff Detection Objects Detection Sensor Characterization Reaction Routine

Open-R R-Code Tekkotsu Remote Framework URBI Programming Tools

Remote FrameWork URBI Urbi-Mind Scenario AiboMind Functions Behaviors Read LowLevel Data Basic behaviors building blocks Low level access (Read/Write) Math functions, float point, etc

RMF Walk J1 – Front Left and Right Walk

URBI J1 – Front Left and Right Walk

URBI J1 – Front Left and Right / Surface Change

def NormalWalk(Wsteps) { neck=-20 smooth :1s, headPan = 0 smooth :1s, headTilt = 0 smooth :1s, if (Wsteps < 0) direction = 0 else direction = 1; Wsteps=abs(Wsteps); for | (j=0;j<Wsteps;j++) for & (m=0;m<6;m++) JF(m,direction) };

Postures State Model for Postures Transition Lie Sit Stand Unknown

Postures Joint – Transition Points

Postures Joint – Transition Points def robot.StandUp() { wait(300); a=robot.myguessPosition(); if(a=="stand") {return 0;ledF=1|wait(500)|ledF=0}; if(a=="unknown") {robot.initial() | robot.lie2stand()} else { if(a=="sit") robot.sit2stand() else {if(a=="lie") robot.lie2stand()}}; };

Obstacle Detection Chest Sensor Output- UrbiMatlab Lib

Obstacle Detection cdetect : every(200ms) cliffalert(),

Obstacle Detection cdetect : every(200ms) obstalert(),

Emerged Behavior LetsFindToy(); Goal : Search of the pink ball Random Search Behavior: Walk, Turn, Sit, Lie Tail, Ear Movements Final Sequence

Interface It simpledemo1: at(headSensor) global.hcounter++; simpledemo2: at(global.hcounter){wait(1000); global.hcounter=0;}, simpledemo3: at(global.hcounter==3){ global.hcounter=0;cleanall(); speaker.play("bark.wav"); motor on; wait(1s);load("foundtoy.u");}, simpledemo4: at(backSensorR){global.bk++;}, simpledemo5: at(global.bk) {wait(1000);global.bk=0;}, simpledemo6: at(global.bk==3) {cleanall();global.bk=0}, Start Stop

Emerged Behavior LetsFindToy();

How Complex? CPU-load level through the Behavior

Conclusions and Future Work Voice and Face Recognition are under construction using Open Source Lib An Urbi-Mind has been created. Routines could be integrated in higher level algorithms. Paralleling processing features are crucial in behavior based robot control. Routines could be used in simple ‘end user’ applications.

Have Fun at &(speaker.remain=~=29025 || speaker.remain=~=28775 || speaker.remain=~=28525 ) { boca(), },