Aibo support in Webots
Webots includes support for the Aibo robots, including the ERS-210 and
ERS-7 models. This support is however not currently actively developed
as Sony decided to discontinue these robots. However, the Aibo software
we developed, the models and sample source codes are released under the
LGPL open source license so that anyone can continue to make this
project evolve. It includes the following:
- Models the Aibo robots with physics, sensor and actuator
simulation (included in the latest version of Webots - LGPL).
- A robot window specific to Aibo with GUI controls for the
devices of the robots (included within the latest version of Webots - proprietary, Cyberbotics, maintained)
- A remote control server software called RCServer
running on Aibo so that a Webots controller
can remote control a real Aibo through WiFi. The RCServer also includes
the cross-compilation capability (based on the OPEN-R SDK), so that you
can cross-compile your Webots controller and upload them onto the real
- A URBI programming interface (proprietary, URBIforge.com, maintained)
2 Current status (as of October 2nd 2008)
The Aibo support has been discountinued in Webots 6, but new improved packages are still being developed and used by Webots 5 users:
|New version of the cross-compilation system for Aibo, including camera image support
||Jorge Grande, Ricardo Tellez, Teresa Escrig
Main view with an ERS-7 model
Currently, the models include the
ERS-210 and the ERS-7 with mass distribution and friction parameters.
Each model supports the simulation of the following devices:
- servo: all 20 servos implemented, control in position.
- distance sensor: 3 for the ERS-7 and one for the ERS-210.
- camera: in the head of the robot.
- touch sensor: 4 for each robot (below the feet).
- LEDs on the face of the robot.
View from the robot's camera
2.2 Robot window
Configuration pannel for the ERS-7
Controls panel for the ERS-7
After connecting to the real robot
through the robot window, the real robot becomes remote controller. All
features described in the robot window section are implemented. This is
handled on the real robot by the RCServer program. The RCServer was
originally developed by Lukas Hohl, then modified by Olivier Michel,
Ricardo Tellez (ERS-7 support) and Raphael Haberer-Proust (Camera
When clicking on the cross-compile
button, the current robot controller gets cross-compiled and uploaded
onto the real robot. One can reboot to start the execution of the
program on the robot. This cross-compilation system relies on the
RCServer source code. It was originally developed by Lukas Hohl.
The MTN support works in simulation and
on the real robot in remote-control and cross-compilation modes.
However, it has currently the following problems: