AIBO/Scheme Command Reference Sheet

This sheet contains all the scheme commands that you may use to communicate with the Sony Aibos.

• (translate x) - This procedure commands the AIBO to walk either forward (for positive x) or backward (for negative x). The magnitude of x specifies the speed of this motion, try to keep x between -1 and 1.

• (strafe x) - Like translate except specifies side to side motion.

• (rotate x) - Again like translate excepts specifies rotation of the AIBO.

• (write-walk translation strafe rotation) - This procedure lets you combine all three of the above kinds of motion.

These commands cause the AIBO to move to the specified posture.

• (stand) - Causes the AIBO stand on all four legs. *

• (sit) - Causes the AIBO to sit. *

• (lie-down) - Causes to the AIBO to lie down. *

• (pounce) - Causes the AIBO to move into a pouncing position.

* Sometimes it doesn’t work to go from sitting or laying to standing or vise versa. It is better to make the AIBO move into a pounce position between these kind of transitions and then move to final position.

The following procedures will cause the AIBO to make various sounds: (bark-three), (bark-high), (bark), (bark-low), (bark-real), (bark-yap), (bark-little), (whimper), (sniff), (growl), (growl-long), (roar), (meow), (cat-cry), (cat-yowl), (donkey).

These commands control individual joints of the AIBOs and are just thin wrappers around the write-outputs procedure defined below. For full control of all joints you will need to use write-outputs.

• Head and Neck: (look-left), (look-center), (look-right), (head-up), (head-down), (nod-up), (nod-center), (nod-down). head-up and head-down actually change the position of the AIBO’s head relative to its body. The nod and look commands change the orientation of the AIBO’s head.

• Mouth: (mouth-open), (mouth-close)

• Tail: (tail-front), (tail-back), (tail-left), (tail-right), and (tail-center).

• Ears: (left-ear-in), (left-ear-out), (right-ear-in), (right-ear-out).

Like the action commands above, these procedures are just wrappers around the write-outputs procedure. For full control of all LEDs you will need to use this procedure.

• (ear-led r g b) - Sets the LEDs on the AIBO’s ear to the specified color which you must give as an RGB value with each component on a scale from 0.0 to 1.0. So (ear-led 1.0 0.0 1.0) will set the AIBO’s ear to a purplish color since the red LED is fully on as well as the blue LED, and the green LED is not on at all.

• (head-top-led x) - Specifies the intensity of the orange led on the top of the AIBO’s head.

• (led-back-color front middle rear), (led-back-white front middle rear). The AIBO’s back contains six LEDs, pairs of color and white LEDs for the front, middle, and rear of the AIBO’s back. led-back-color specifies the intensity (from 0 to 2.0) for each of these color leds. led-back-white does the same execpt for the white LEDs.

• (led-a-mode), (led-b-mode) - The AIBOs face LEDs have two different modes, the colors and positions of the leds of the face depend on which mode is active. These procedures allow you to specify the mode. To actually specify the face LED values you will have to use write-outputs defined below.

• (light-all), (light-off) - Turns all of the lights on or off.

(write-outputs id-lst val-lst) - write-outputs takes in two as arguments two lists. The first list is a list of joint and/or LED IDs. The second list should be of the same size and specifies the value to set the corresponding joint or LED from the first list to. So for instance, (write-outputs (list mouth head-tilt) (list -1.0 0.0)) sets the AIBO’s mouth to a value of -1.0 (all the way open), and the tilt of the head to zero. The following is a list of all possible IDs. Using this procedure requires more experimentation to find the correct values for the corresponding joint of LED (most range from -1.0 to 1.0, of 0.0 to 1.0) but allows finer control of the robot.

Joint Name	Range of Values	Notes
leg-left-front-rotator
leg-left-front-elevator
leg-left-front-knee
leg-right-front-rotator
leg-right-front-elevator
leg-right-front-knee
leg-left-back-rotator
leg-left-back-elevator
leg-left-back-knee
leg-right-back-rotator
leg-right-back-elevator
leg-right-back-knee
head-tilt
head-pan
head-nod
tail-tilt
tail-pan
mouth	-1.0 (fully open)- 0.0 (closed)
ear-left
ear-right

For LEDs the range of values is usually from 0.0 to 1.0 or 2.0, where 0.0 is completely off and 1.0 or 2.0 sets the LEDs to full intensity.

LED Name	Range of Values	Notes
led-head-color
led-head-white
led-mode-r
led-mode-g
led-mode-b
led-wireless
led-face-a
led-face-b
led-face-c
led-face-d
led-face-e
led-face-f
led-face-g
led-face-h
led-face-i
led-face-j
led-face-k
led-face-l
led-face-m
led-face-n
led-back-front-color
led-back-front-white
led-back-middle-color
led-back-middle-white
led-back-rear-color
led-back-rear-white
led-ab-mode