User manual SONY ERFPC03

[. . . ] 4-659-404-11(1) 4-652-241-11(1) English Edition Tutorial Guide © 2001 Sony Corporation ©2002 Sony Corporation Table of contents Introduction Before You Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 About the Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 About the Online Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Getting prepared . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [. . . ] Confirm that the names of the terminals are "AIBO" and "Hello" by positioning the mouse on the terminals. 53 Lesson 5 Intermediate Course 3 Connect the AIBO terminal of the VOICE_RECOG to the WALK_BOW box. Place a new action box to the right of the WALK_BOW box. Enter the "greet" action command (which is executed when AIBO hears and recognizes the word "Hello. "). You'll use the "Greet01" action file in the action library (see page 43) for the greeting by AIBO. You've now created a program that causes AIBO to walk and bow when it hears the word "AIBO. " 4 5 Enter the box name and command, and then close the Properties box. Name: GREETING 1 Enter the "greeting" command on the first line. Main PLAY Sub Name ACTION+ greet01 See page 25. 2 Enter the "WAIT 0" command on the second line. 54 Lesson 5 Intermediate Course 6 Connect the boxes and reorganize the lines. Connect STAND t VOICE_RECOG, and the "Hello" terminal of VOICE_RECOG t GREETING, and GREETING t STAND. When AIBO recognizes the word "Hello, " it greets you. The program then returns to the beginning and AIBO stands, waiting for another word input. If the flowchart is hard to follow, rearrange the lines or boxes. Saving the program and running it on AIBO Save the program that you created to the "Memory Stick" as "Lesson5. be" and run it on AIBO. When the program is executed, AIBO repeats the following actions. Stand t recognizes "AIBO" t walks for 10 cm and bows recognizes "Hello" t greets you by raising its right front leg recognizes another word t gets angry!Poses See page 30. The program you've created in this lesson is The same as the program in the "Tutorial5. be" file in the "\Sample\model name" folder. Confirm that the program was properly created or not. See page 12. You've just completed a complex program! It might have been difficult because of all the steps, but you learned many techniques that will allow you to make full use of Behavior Arranger. Make use of the program that you created by changing the embedded actions or walking distance. 55 Lesson 6 Advanced Course Doing Several Actions Simultaneously GOAL: To create a program that does several actions simultaneously. Overview of the program: When AIBO finds an obstacle, it walks backwards for 5 seconds while moving its tail and head. It then walks forward again. Wait 1 sec No Encountered obstacle while walking forward?Yes Walk backwards 5 sec while moving tail and head Point: There is only one "walk forward" command and it is not included in the loop for detecting obstacles. Turn on AIBO Stand up to walk Keep moving tail & neck Procedure 1 Checking the current program (page 57) 2 Creating a program that does several actions simultaneously (page 58) · Changing the action of the program from "go forward" to "search for obstacles while walking forward" · Looping the program · Adding two actions: twirling the tail (ERS-210 only) and moving the head sideways 3 Saving and running the program (page 61) 56 Lesson 6 Advanced Course Checking the current program In this lesson, you'll edit the "Tutorial6a. be" file, so make a copy of the file and open it with Behavior Arranger. The "Tutorial6a. be" file is stored in the "Sample\model name" folder (see page 12). In your program, the commands will be executed sequentially (not simultaneously). Makes AIBO stand up. IF Distance < 300 BACK If there is an obstacle within 300 mm, the program jumps to the Back box. ELSE GO_AHEAD In all other cases, the program returns to the GO_AHEAD box. PLAY ACTION WALK 0 100 WAIT Commands AIBO to walk for 100 mm. The "WAIT" command is included to prevent the next command from being executed until AIBO finishes walking 100 mm. PLAY ACTION WALK 180 200 WAIT (If there is an obstacle nearby) AIBO walks backwards for 200 mm. The WAIT command is inserted in this box also to prevent the next command from being executed until AIBO finishes walking backwards for 200 mm. As shown above, the program is designed not to execute the next command until the previous command has been completed. 57 Lesson 6 Advanced Course Executing several actions simultaneously Let's modify the existing program so that several commands are executed simultaneously, such as AIBO searching for obstacles while walking. 1 Open the "GO_AHEAD Action Box" Properties box. Change the walking distance. Change the distance in the PLAY-ACTION-WALK-0-100 command from 100 mm to 10, 000 mm. AIBO continues walking since a long distance (10, 000 mm) is specified. 2 3 Click WAIT, Delete, and then the OK button. Since the WAIT command has been deleted, the commands in "OBJECT?" box are executed right after the "walk forward for 10 cm" command is executed. AIBO then searches for obstacles as it walks forward. Next, we'll loop the program so that AIBO checks for obstacles every second when none has yet to be detected. 4 In the "OBJECT?Action Box" Properties box, change "Else GO_AHEAD" to "Else WAIT_1SEC, " and then close the Properties box. In the box, the jump destination has been changed from "GO_AHEAD" to "WAIT_1SEC. " 58 Lesson 6 Advanced Course 5 Connect the output terminal of the WAIT_1SEC box with the input terminal of OBJECT?Box, and organize the lines. AIBO will now search for obstacles every second while executing the "Go forward" command. The point of this step is to prevent the program from executing "go forward" again while the "OBJECT?" and "WAIT_1SEC" boxes are still being executed in a loop. In the end, change the "distance" parameter to a "time" parameter with the condition that causes the program to execute the next command after AIBO has walked backwards. 6 Open the "BACK" Properties box, change the distance from "200 mm" to "10000 mm, " delete the WAIT command, and then close the Properties box. 59 Lesson 6 Advanced Course 7 Disconnect the BACK and GO_AHEAD boxes, and connect the BACK, WAIT_5SEC and GO_AHEAD boxes in sequential order. Since the WAIT command has been deleted, the WAIT_5SEC box is executed right after the command to go backwards. [. . . ] This should be avoided if you want your AIBO to behave like a robot. ERS-310/311 series · The head is heavy, so it is more difficult to maintain balance than with the ERS-210/220. Example: Raising the front leg To raise the right front leg, shift the center of gravity backward by bending the left back leg sharply. In this case, you should try to avoid lowering the head. To raise the front leg while AIBO is sitting, shift center of gravity backward and by spreading the back legs, and then raise the front leg. It is very difficult to raise both front legs. [. . . ]