Aibo and Webots: Simulation,wireless remote control and controller transfer |
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| Affiliation: | 1. College of Information Science & Engineering, Northeastern University, China;2. Sino-Dutch Biomedical & Information Engineering School, Northeastern University, China;1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, P. R. China;2. Institute of Intelligent Systems and Information Technology, University of Electronic Science and Technology of China, Chengdu 610000, P.R. China;3. Department of Electrical and Computer Engineering, the National University of Singapore, Singapore 117576, Singapore;1. Astrakhan State Technical University, Tatisheva 16Zh, ap. 36, Astrakhan, 414056, Russia;2. Saint-Petersburg Mining University, Nikolay Rubtsov, 11, building 1, letter A, St. Petersburg, pos. Pargolovo, 194358, Russia;1. Dipartimento d’Ingegneria Industriale, Università di Salerno, Via Giovanni Paolo II, 132, 84084 Fisciano (SA), Italy;2. Dipartimento di Ingegneria, Università di Roma Tre, Via della Vasca Navale, 84, 00146 Roma, Italy;1. School of Computing, Engineering and Physical Sciences, University of Central Lancashire, Preston PR1 2HE, UK;2. Centre for Materials Science, Division of Chemistry, School of Forensic and Investigative Sciences, University of Central Lancashire, Preston PR1 2HE, UK |
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| Abstract: | This article introduces a new software tool that provides an accurate simulation of Sony Aibo robots and the capability to transfer controller programs from the simulation to the real robot. Five components are described: (1) a simulated physics-based model of the Sony Aibo ERS-210(A) and ERS-7 quadruped robots; (2) a graphical user interface for controlling the simulated and real robots; (3) a wireless communication protocol for controlling the robot from within Webots; (4) software components on the robot that enable remote control; and (5) a method for cross-compiling Webots robot controllers. The complete system has been calibrated and proof tested. It enables simultaneous control of both a simulated and a real Aibo robot and provides the user with a platform for convenient robot programming without any knowledge of the underlying robot firmware. |
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