A "Pace" gait is when the two legs on the same side of a four legged animal move together, so its weight is supported entirely by the left half or the right half. The robot's walk engine is based on the CMU Robosoccer team's 2002 entry, and is entirely open loop (no sensor feedback is used -- the parameters chosen happen to have a degree of intrins...

This was a final project at the 2004 Pennsylvania Governor's School for the Sciences. The robot knows the size of each maze cell, and assumes a grid layout, but does not know where walls will be placed. It moves one cell at a time, aligns with the walls by taking a series of infrared distance rangefinder measurements, and then chooses an open cel...

Demonstration of the emergency stop ("E-Stop") mode used by Tekkotsu on the Aibo robots. Prevents the robot from moving its joints, but monitors for external forces, allowing the joints to be repositioned.

Demonstrates the capabilities of our included walk engine, based on the CMU 2002 Robosoccer team, CMPack'02. The behavior simply walks in the direction the head is pointed.

Demo of our 'Regis' robot prototype, featuring a "gooseneck" camera and "crab" arm. High res video: http://tekkotsu.org/Samples.html#regis1 More information: http://tekkotsu.org/robots/regis/

The first Chiara prototype walking on our table at the AAAI (Association for the Advancement of Artificial Intelligence) Robot Exhibition and Workshop, July 15, 2008, where it won the 2nd place award for technical excellence. And a blue one in the hallway at Carnegie Mellon. Both shots are using a slow ripple gait where only one leg is lifted at a...

Testing the front legs for our future hexapod, "Chiara" (originally dubbed "Kathie Lee"). This is the leggy version of our previous robot, "Regis" (which is also in continuing development). These legs have four degrees of freedom, which allow them to also be used for manipulation of larger objects. The final robot will also have a "crab arm" for...

Final project from 15-494 Cognitive Robotics at Carnegie Mellon University, Spring 2007. Demonstrates wireless communication mechanism between robots using the Tekkotsu framework. Brett Simmers & Lisa Storey http://www.cs.cmu.edu/afs/cs/academic/class/15494-s07/final-projects/telepathy/index.html

This video demonstrates an Aibo learning the XOR task, where it receives a reward following either a red or a blue stimulus, but not when both are presented together. The Temporal Difference learning aspect allows the robot to learn when the reward should have been presented, so that it can handle real-time interactions. Published in the proceedin...

A final project for CMU 16-741 Mechanics of Manipulation, an Aibo used used to work with paper. http://ethan.tira-thompson.com/stuff/16-741/project.html

The fully assembled hexapod, producing a rough walking motion. It's supported under the belly, so the legs are only lightly rubbing the ground while we work on debugging the kinematics and gait parameters. Astute observers may note the robot's back left leg never moves — turns out it wasn't plugged in, so there's a good reason for that! :)

This video shows the Walk to Light demonstration for the TRI server. The two targets (the pink and green boxes) each contain one light-sensing mote. When the second light, which is outside of the picture (above the AIBO), is on, the pink target is brightest. Otherwise, the green target receives the most light from the visible lamp in the image.

A demonstration of an Aibo playing a game of chance on a laptop. The Aibo can choose between pressing keys on the left half of the keyboard or the right half. One side may be more likely to give a "reward" than the other, but it will want to maximize its winnings while it determines which that may be. So there's a trade off between exploration a...

This video shows the Sleep-Sit-Stand demonstration for the TRI server. The video is an overlay of the original recording and the TRI replay. The replay AIBO is the "ghost-like" AIBO in the video.

Legged locomotion can be pretty bumpy for any cameras mounted on the robot, which makes computer vision on these platforms more difficult. Using video captured from a Sony Aibo, we attempted to stabilize the image sequence by aligning each image with its predecessor(s). The left frame shows the "raw" video, and the right frame shows the "smoothed"...

Just for fun, a very minimalist robot... the rear four legs connected to only the pelvis plate, stumbling around.

This video shows the Head Movement demonstration for the TRI server. The video is an overlay of the original recording and the TRI replay. The replay AIBO is the "ghost-like" AIBO in the video.

Legged locomotion can be pretty bumpy for any cameras mounted on the robot, which makes computer vision on these platforms more difficult. Using video captured from a Sony Aibo, we attempted to stabilize the image sequence by aligning each image with its predecessor(s). The left frame shows the "raw" video, and the right frame shows the "smoothed"...

A final project for CMU 16-741 Mechanics of Manipulation, an Aibo used used to work with paper. http://ethan.tira-thompson.com/stuff/16-741/project.html

Final project from 15-494 Cognitive Robotics at Carnegie Mellon University, Spring 2007. The Aibo locates the "shoe" (dealing stand), picks up a card (and recognizes the card value), and returns it to the playing area. Leigh Ann Sudol, Dylan Hower, and Je Woong Heo http://www.cs.cmu.edu/afs/cs/academic/class/15494-s07/final-projects/blackjack/

A final project for CMU 16-741 Mechanics of Manipulation, an Aibo used used to work with paper. This task demonstrates the Aibo "reading" a piece of paper. A separate video will be uploaded to show the Aibo's view of the paper: http://www.youtube.com/watch?v=z4KR6ub03Fw http://ethan.tira-thompson.com/stuff/16-741/project.html

A final project for CMU 16-741 Mechanics of Manipulation, an Aibo used used to work with paper. This task demonstrates the Aibo "reading" a piece of paper. A separate video will be uploaded to show a 3rd person view of the action: http://www.youtube.com/watch?v=rnzLvr7C2UI http://ethan.tira-thompson.com/stuff/16-741/project.html

A final project for CMU 16-741 Mechanics of Manipulation, an Aibo used used to work with paper. http://ethan.tira-thompson.com/stuff/16-741/project.html

This video shows the Arm chasing a pink object around.

The Aibo uses its 3-axis accelerometers to determine the direction gravity is currently pulling, and adjusts the head to keep it in the same orientation

This video shows the Walk to Light demonstration for the TRI server. The video on the left is from the original recording while the video on the right is of the TRI replay. The two targets (the pink and green boxes) each contain one light-sensing mote. When the second light, which is outside of the picture (above the AIBO), is on, the pink targe...

This video shows the Sleep-Sit-Stand demonstration for the TRI server. The video on the left is from the original recording while the video on the right is of the TRI replay.

This video shows the Walk to Light demonstration for the TRI server. The video is an overlay of the original recording and the TRI replay. The replay AIBO is the "ghost-like" AIBO in the video. The two targets (the pink and green boxes) each contain one light-sensing mote. When the second light, which is outside of the picture (above the AIBO),...

A final project for CMU 16-741 Mechanics of Manipulation, an Aibo used used to work with paper. http://ethan.tira-thompson.com/stuff/16-741/project.html

This video shows the Head Movement demonstration for the TRI server. The video on the left is from the original recording while the video on the right is of the TRI replay.