AIBO

1
AIBO
Resources

• Fujita, M. Kitano, H. (1998). Development of an
  autonomous quadruped robot for robot
  entertainment. Autonomous Robots, 5, 7-20.
• Masahiro Fujita , Koji Kageyama, An open
  architecture for robot entertainment, Proceedings
  of the first international conference on
  Autonomous agents, p.435-442, February 05-08,
  1997, Marina del Rey, California, United States
• SONY
• http//www.aibo.com
• OPEN-R SDK
• http//www.jp.aibo.com/openr/e_regi/index.jsp
• RobotCup Four-legged league
• http//www.robocup.org/
• http//www.sony.net/SonyInfo/dream/robotbox/en/vol
  00/index.html
• VIDEO http//www.cis.upenn.edu/robocup/index.html

2
From http//www.us.aibo.com/guides/200/ers210.pdf
3
Original name MUTANT
(Fujita Kitano, 1998)
4
Entertainment Robotics

• Robot behavior watching
• Analogous to watching animals in a zoo
• Behaviors may need to be sufficiently complex or
  unexpected so that people keep an interest in
  watching or taking care of it (p. 17, Fujita
  Kitano, 1998)

5
AIBO Hardware Specs(model 210E)

• Sensors
• Touch sensor (head, back, chin, paw x 4)
• range sensory (head)
• Stereo microphones
• Pause button
• Color camera (CMOS) 362x492 pixels (Fujita
  Kitano, 1998)
• Inside body acceleration sensor, vibration
  sensor, thermo sensor
• Motors
• 3 degree-of-freedom (DOF) neck (pan, tilt, roll)
• Ears 1 DOF x 2
• Chin 1 DOF
• Legs 3 DOF per leg x 4 legs
• Tail 1 DOF
• Other output devices
• Mode display (head) green LED
• Eye LED (4 red LEDs 2 green LEDs)
• Chest lights (green/orange)
• Tail LEDs slue/orange
• Speaker (head mounted)

6
http//www.mips.com/Documentation/MIPSbase.FALL200
1.pdf
7
Goals of Auditory Processing

• Cope with general noise interference
• External to robot
• Internal to robot
• Robot generates sound when it moves
• Speech sound interference
• People will be talking to robot
• Need to discriminate master from others
• Cocktail party effect
• Humans are able to distinguish target voices from
  other voices and noise in a cocktail party

8
Agent Architecture

• To create complex behaviors various kinds of
  behavior and motion control subsystems, are
  required which can at times compete or
  cooperate. Through competitions and cooperations,
  complex motions and actions emerge (italics
  added, p. 12, Fujita Kitano, 1998)
• Competition
• winner take all process where items involved in
  competition are potential behaviors
• Cooperation
• Varying amounts of different potential behaviors
  are combined to generate actual behavior

9
(Fujita Kitano, 1998)
10
Dimensions inCompetition and Cooperation

• Reaction/deliberation
• Reactive fast response time behaviors
• Deliberative slow response time behaviors
• Instinct/Emotion/High Level Cognition
• Within deliberative control
• Three levels of control subsystems
• Instinct example
• Moving towards recharging station
• Instinct/Emotion module implemented in MUTANT
• Novelty-boredom
• Fatigue-activation
• happiness-anger
• High level cognition
• communication with human using motion voice
• Hand/Neck/Body
• Distribution of behaviors to various body parts

11
http//www.us.aibo.com/ers_310/1.php
12
(Fujita Kitano, 1998)
13
OPEN-R

• Sony programming interface for entertainment
  robotics
• Event driven programming for AIBO
• Example program code
• MovingLegs
• Move legs and assume a sleeping pose
• From http//www.jp.aibo.com/openr/e_regi/index.js
  p

14
Fujita Kageyama (1997)
15
Fujita Kageyama (1997)