AIBO

Gun A. Lee20023535

VR Lab, CSE

Dec. 4, 2002

EECE520 A.I. Class Term Project

ContentsIntroductionSpecificationFunctionsProgramming AIBOImproving with A.I. TechniquesConclusion

Introduction - AIBO?A.I. Robotあい-ぼう[相棒]A robot pet of SONY

Introduction - AIBO?Line-up

ERS-110 ERS-210 ERS-220 ERS-311May 1999 Oct. 2000 Nov.2001 Sept.2001

Introduction - Robot Pet?Virtual Pets

Tamagochi, Pokemon Pikachu,Digimon

Raising Simulation GamesCreature, Princess Maker

Interactive Dolls / Robot PetFurby, Shelby, Tekno, iCYbie, NeCoRo

i-Cybie

NeCoRo SDR-4X

Specification - Hardware64-bit MIPS RISC CPU32MB SDRAMMemory Stick Media for AIBOBuilt in ClockPC Card Slot Type 2 (ERS-200 Series)Sensors

CMOS Camera, Stereo Microphone, Temperature, Acceleration, Pressure, Vibration, IR Distance

20 DOF on Legs, Tail, Head, Mouth & Ears

Specification - SoftwareAIBO-warePC Applications for AIBODevelopment

R-CODEOPEN-R SDK

Aperios / OPEN-R

FunctionsInstincts

Love, curiosity, movement, hunger & sleep

Expressing EmotionsHappiness, sadness, anger, surprise, fear and dislikeTonal language, motions, LED

LearningVoice(Tonal language) recognitionMimic, Humming, Sing a songObject tracking & Face recognitionTake pictures

Functions - AIBO-wareAIBO-Life & AIBO-Life2

Raise from toddler to child, teen & adultInteracting with AIBO accelerates the maturing.Teach ActionsGive a name to AIBOTell your name

Functions - AIBO-wareHello AIBO

Fully matured adult AIBO75 Voice Command RecognitionMimickingSocial behaviors

Functions - AIBO-wareParty Mascot

GamesSong & Dances

AIBO Speed BoardSkate with voice commandsRecord and replay routines

Functions - AIBO-wareAIBO Explorer

Fully matured AIBOSurveillance modeHyperactive Boost mode

AIBO RecognitionFully matured AIBOOwner RecognitionSelf Recharging on Energy Station

Functions - PC AppsAIBO Fun Pack

Check AIBO StatusDownload Photos

AIBO MessengerNotice e-mail receivedRead e-mailRead favorite websites

Functions - PC AppsAIBO Navigator

Control and NavigateWireless LANVideo and sound monitoringTake PictureSend commandsForce feedback Joystick support

Functions - PC AppsAIBO Master Studio

Create and edit original sound, motion, LED data and BehaviorVoice recognitionWireless LAN debuggingImport/Export Actions for other AIBO wares

FunctionsRobot Soccer?

Programming AIBOR-CODE

Easy to learn, simplified PLR-CODE InterpreterAIBO Master Studio

OPEN-R SDKAdvanced programmingOPEN-R APIBased on gcc (C++)

Programming AIBO:R-CODEFeatures

Similar to BASICControl statementsSubroutinesVariables (16-bit integers)

System variables support sensor data

Addition/SubtractionStacks

Programming AIBO:OPEN-RFeatures

OO designed OPEN-R API of system layerFull control of joints & displaysFull access to sensors

Image data, wave formatted sound data

Network supportsHigh level functions are not supported.

Gait, Voice & Object Recognition, MIDI

Improving with A.I.A.I. Techniques

Problem Solving - SearchInference with Knowledge BasePlanningLearning

Improving with A.I.Newly suggested functions:

‘AIBO, come here!’‘Go, get the newspaper.’

‘AIBO, come here!’Scenario

Owner: ‘AIBO, come here!’AIBO: Tries to find where its owner is.

‘Where are you?’Owner: ‘At the kitchen.’AIBO: Finds the way to the kitchen.

‘AIBO, come here!’Required Functions

Map ConstructionWay finding (Search)

BFS, DFS, IDS

Recognizing the door

‘AIBO, come here!’Map Construction

ManualOwner manually constructs the map of the house and uploads to AIBO’s memory.

AutomaticAIBO wanders around the house and constructs the map by itself.

Semi-automaticOwner takes AIBO to each place of the house and tells where it is.

‘AIBO, come here!’Map Construction

Bedroom1

KitchenLivingRoom

BathRoom

Bedroom2

DiningRoom

FrontDoor

‘AIBO, come here!’Door recognition

Tagging the doorsCyberCode

Jun Rekimoto(DARE2000)Gives ID and Orientation

Tagging the path (on the floor)

‘AIBO, come here!’

PassThrough(x)

InSourceRoomOf(x) ~InTargetRoomOf(x) Opened(x)

InTargetRoomOf(x)

Start

InSourceRoomOf(x) ~InTargetRoomOf(x) ~Opened(x)

Finish

InTargetRoomOf(x)

Open(x)

~Opened(x)

Opened(x)

‘Go, get the newspaper.’Scenarios

‘Go, get the newspaper.’‘Take this to the living room.’‘Take the newspaper to daddy.’‘Turn off the lights.’

‘Go, get the newspaper.’Required Functions

Way finding (previously described)

PlanningPhysical Requirements

Make AIBO strong enough to carry small objects. : Design an AIBO basket(tray)?Make AIBO to be able to turn switches on & off. : Humanoids?

‘Go, get the newspaper.’STRIPS Operators

MoveTo(x)

~In(x) In(y)

In(x) ~In(y)

Get(x)

~Have(x) In(y)

Have(x)

Put(x)

Have(x)

~Have(x)

‘Go, get the newspaper.’Start

~In(F) In(L) ~Have(N)

Finish

Have(N) In(L)

Get(x)

~Have(N) In(F)

Have(N)

MoveTo(F)

~In(F) In(L)

In(F) ~In(L)

MoveTo(L)

~In(L) In(F)

In(L) ~In(F)

ConclusionAIBOCurrently Supported Functions

Simple rule-based behaviorsLearningVoice recognitionFace and object(color) recognition

ConclusionNewly Suggested Functions

‘AIBO, come here!’Map ConstructionWay finding - Search

‘Go, get the newspaper.’Way finding – SearchPlanning