aibo at ltu
description
Transcript of aibo at ltu
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