1. 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”)

2. AIBO

3. Hardware Sensors - Actuation motors and Outputs
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.

4. 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)
Look for object
Point head at object
Bark and wag tail
Monitor the battery charge
Behavior (background)
Behavior (foreground)

5. 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 <motion>MC.cc (.h) by convention
Executed through the “motion manager” process
More later

6. Behavior Class template
#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(MotionManager::invalid_MC_ID),
stand() {
// initialiation of stand up behavior
stand->setPlayTime(700); // 700 milliseconds to stand up
stand->setPose(PostureEngine("/ms/data/motion/situp.pos")); }
virtual void DoStart();
virtual void DoStop();
virtual void processEvent(const EventBase& event);
virtual std::string getName() const {
// Name is used for menus, or debugging.
return "happyBehavior";}
protected:
MotionManager::MC_ID stand_id;
SharedObject< MotionSequenceMC<MotionSequence::SizeSmall> > stand; };
#endif
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

7. How Tekkotsu Works