Sony AIBO ERS111 User Manual
4-645-302-11(1)
Entertainment
Robot
ERS-111
Operation Manual
C 1999 by Sony Corporation
Entertainment Robot
“AIBO” ERS-111
Operation Manual
“OPEN-R” is the standard interface for the entertainment robot system that
Sony is actively promoting. This interface expands the capability of the
entertainment robot through a flexible combination of hardware and
interchangeable software to suit various applications.
“AIBO” ERS-111 conforms to the OPEN-R version 1 (software specifications).
“AIBO” is the name given to the Sony entertainment robot. Developed to
encourage human and robot interaction, AIBO creates and introduces you to
new pleasures and lifestyles.
The name “AIBO” is coined from the words “A.I. (Artificial Intelligence),”
“eye” and “robot.” In Japanese, the word “aibou” means “partner” or “pal.”
Safety Information
Owner's Record
The model number and serial number are located on the bottom of the station.
Record the serial number in the space provided here.
Refer to the model and serial number when you call your Sony AIBO
Customer Link.
Model Number: ERS-111
Serial Number:
WARNING
• To prevent fire or shock hazard, do not expose the robot to rain or moisture.
• To avoid electrical shock, do not open the cabinet. Refer servicing to
qualified personnel only. (Contact the AIBO Customer Link.)
• Parents—Periodically examine the transformer for conditions that may
result in the risk of fire, electric shock, or injury to persons (such as damage
to the cords, blades, housing) and that in the event of such conditions, the
transformer should not be used until properly replaced.
• Not recommended for children under 8 years.
• Sound controller—Do not mix old and new batteries.
• Do not mix alkaline, standard (carbon-zinc) or rechargeable (nickelcadmium) batteries.
DISPOSAL OF LITHIUM ION BATTERY
You can return your unwanted lithium ion batteries to your nearest Sony
Service Center.
Note
In some areas the disposal of lithium ion Batteries in household or business trash
may be prohibited.
For the Sony AIBO Customer Link you call 1-800-427-2988 in the United
States or contact via email at support@aibosony.com .
! Do not handle damaged or leaking lithium ion batteries.
! Danger of explosion if battery is incorrectly replaced. Replace only
with the same or equivalent type recommended by the manufacture.
Discard used batteries according to the manufacturer's instructions.
! The battery pack used in this device may present a fire or chemical
burn hazard if mistreated. Do not disassemble, heat above 140 °F
(60 °C) or incinerate. Dispose of used battery promptly. Keep away
from children.
4
Regulatory Information
This equipment has been tested and found to comply with the limits for a
Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are
designed to provide reasonable protection against harmful interference in a
residential installation. This equipment generates, uses and can radiate radio
frequency energy and, if not installed and used in accordance with the
instructions, may cause harmful interference to radio communications.
However, there is no guarantee that interference will not occur in a particular
installation. If this equipment does cause harmful interference to radio or
television reception, which can be determined by turning the equipment off
and on, the user is encouraged to try to correct the interference by one more
the following measures:
• Reorient or relocate the receiving antenna.
• Increase the separation between the equipment and receiver.
• Connect the equipment into an outlet on a circuit different from that to
which the receiver is connected.
• Consult the dealer or an experienced radio/TV technician for help.
• You are cautioned that any changes or modifications not expressly
approved in this manual could void your authority to operate this
equipment.
• The shielded interface cable recommended in this manual must be used
with this equipment in order to comply with the limits for a digital device
pursuant to Subpart B of Part 15 of FCC Rules.
5
How to use this instruction manual
Thank you for purchasing “AIBO” ERS-111. This manual will assist you in
building your new relationship with this entertainment robot. Before
operating AIBO, please thoroughly read this manual and retain it for future
reference.
Getting started
To get AIBO to move
See “Getting started” on page 27. Preparation, basic operation and what you
should do after playing are described.
To enjoy AIBO’s autonomous activity, its performances or AIBO in a
game
See respectively, “Living with AIBO” on page 49, “Enjoying AIBO’s
performances” on page 62 and “Playing games” on page 66.
Understanding AIBO for a fulfilling partnership
To understand AIBO in detail
See “Introduction to ERS-111 “AIBO”” on page 12. You can find out exactly
what kind of robot AIBO is.
To communicate with AIBO
See “Features of AIBO” on page 13, “Capabilities of the sound controller” on
page 16, “Communicating via touch sensor” on page 52 and
“Communicating via objects (the ball)” on page 52. You can understand how
to communicate with AIBO through its senses of touch, vision and hearing.
To understand the activity pattern of AIBO
See “AIBO’s motion modes” on page 44. You will be able to find out about
AIBO’s other possibilities than as an autonomous robot.
Getting to know the mind of autonomous AIBO
See “A psychological peek into your robot” on page 54. You can understand
principle of AIBO’s activity in the autonomous mode.
6
Additional information
To charge AIBO
See “Charging the battery pack” on page 74.
To search for information
See “List of commands” on page 91, “List of lights/indicators” on page 95
and “Index” on page 104.
If you wonder, “Is it broken?”
See “Troubleshooting” on page 86.
ERS-110 is used for the illustration and photos in this manual.
“AIBO,” the AIBO logo, “OPEN-R” and the OPEN-R logo are trademarks of Sony Corporation.
7
Table of Contents
Chapter 1 Meet AIBO
Introduction to “AIBO” ERS-111............................................................ 12
What is an autonomous robot?.......................................................12
Features of AIBO ..............................................................................13
Capabilities of the sound controller .................................................... 16
Commands ........................................................................................16
Sound controller features ................................................................16
Unpacking ............................................................................................... 18
AIBO ..................................................................................................18
Supplied accessories .........................................................................18
Index to parts and controls................................................................... 20
AIBO ..................................................................................................20
Station...............................................................................................23
Sound controller...............................................................................24
Chapter 2 Getting started
Preparation............................................................................................. 28
Preparing AIBO.................................................................................28
Preparing the station .......................................................................30
Preparing the sound controller .......................................................31
Playing for the first time....................................................................... 32
Enjoying AIBO’s autonomous activity .............................................32
Performing........................................................................................34
After playing .......................................................................................... 37
Placing AIBO on the station.............................................................37
When not playing with AIBO................................................................. 40
When you are going out / going to sleep.......................................40
When going out for long.................................................................42
8
Chapter 3 AIBO’s four modes — How to interact with AIBO
AIBO’s motion modes ............................................................................ 44
About each motion mode................................................................44
The different modes.........................................................................46
Correlation of motion modes ..........................................................47
Chapter 4 Living with AIBO — AIBO, an independent roommate
AIBO’s autonomous activities............................................................... 50
Engaging the autonomous mode ...................................................50
Communicating via touch sensor .................................................... 52
Communicating via objects (the ball) .............................................52
A psychological peek into your robot.................................................. 54
Emotions ........................................................................................... 54
Instincts ............................................................................................. 55
Education ..........................................................................................56
Growth ..............................................................................................56
Body language..................................................................................57
Other robotic expressions ................................................................59
Naps and bedtime ............................................................................ 60
Chapter 5 Playing with remote-controlled AIBO
Enjoying AIBO’s performance ............................................................... 62
Setting AIBO to the performance mode......................................... 62
Changing the movement style ........................................................63
Asking AIBO for a particular performance .....................................64
Playing games ........................................................................................ 66
Operating AIBO in the game mode ................................................ 66
Controlling two AIBOs ..................................................................... 69
Playing games with AIBO ...................................................................... 71
Soccer ................................................................................................ 71
Labyrinth........................................................................................... 72
Stick ...................................................................................................72
9
Chapter 6 Charging and adjustments
Charging the battery pack and adjusting the volume ....................... 74
Charging the battery pack...............................................................74
Replacing the battery pack..............................................................76
Adjusting the volume.......................................................................79
Chapter 7 Additional information
Notes on use ........................................................................................... 82
Troubleshooting ..................................................................................... 86
AIBO ..................................................................................................86
Autonomous mode ..........................................................................87
Performance mode...........................................................................88
Game mode ......................................................................................89
Station...............................................................................................90
Sound controller...............................................................................90
List of commands ................................................................................... 91
Numeric commands and single sound commands .........................91
Game commands ..............................................................................94
List of lights/indicators.......................................................................... 95
Lights on AIBO..................................................................................95
Indicators on the station..................................................................97
Lights on the sound controller ........................................................98
Limited warranty ................................................................................... 99
Service procedure ................................................................................ 101
Specifications ....................................................................................... 102
Index...................................................................................................... 104
10
Meet AIBO
This chapter introduces you to the
entertainment robot “AIBO” ERS-111 and its
supplied accessories.
Introduction to “AIBO” ERS-111
“AIBO” ERS-111 is Sony’s robot designed as a new kind of
entertainment—home entertainment. Utilizing advanced
technology, this “entertainment robot” expands on the features of
robots which have existed only in the realm of science fiction or
in special laboratories.
There have been other robots for entertainment, such as battling
robots operated by remote control, stuffed animal robots that
giggle when tickled, and robots controlled by computer.
However, the greatest difference between those robots and AIBO
is that AIBO is an “autonomous” robot.
What is an autonomous robot?
AIBO was created to encourage human and robot coexistence.
It can move around on its own, as it is equipped with all the
necessary hardware such as the brain, sensors, and power switch.
In addition, its software enables AIBO to have emotions,
instincts, learning ability and capacity to mature. Therefore, it
requires no external control or human instruction for movement.
AIBO is a robot, but a one which lives at home and
communicates with people, expressing emotions, learning and
growing up, and acting under its own judgement—this is an
“autonomous robot.”
Each AIBO turns out differently, as its behavioral patterns
continuously change. This is because AIBO acts based upon its
feelings and instincts, then learns from the result of experience,
all the while maturing into a full-fledged robot.
When in a bad mood, AIBO will not listen to what people order,
whereas in a good mood, it may entertain you with its favorite
performance.
The key to get along with AIBO is to understand its autonomous
nature, and help it learn and grow.
12
Features of AIBO
To realize AIBO’s greatest feature, the autonomous behavior,
AIBO has various functions and capabilities. There are also other
ways to enjoy AIBO other than as an autonomous robot.
A four-legged robot
To comfortably coexist with people, AIBO was designed with the
four-legged appearance of a dog or cat, animals which usually
have long-term, friendly relationships with people. It walks on
four legs which are jointed and moves them to sit or lie down. It
also uses the legs to express its emotions or entertain you with its
favorite performance.
Various senses
AIBO has sensors corresponding to human senses, which allow it
to perceive its environments and communicate with people.
Introduction to ERS-111 “AIBO”
• Touch: AIBO’s head is the sensor for receiving personal
contact by touch.
• Audition: AIBO receives sounds through a stereo microphone.
AIBO has a perfect pitch and responds to certain
combinations of musical tones (commands) that
deliver instructions to it.
• Vision: AIBO has a built-in color camera and distance
sensor which are used to look for its favorite colors
or to avoid obstacles.
• Balance: Using its acceleration sensor, AIBO recognizes when
it falls.
Communicating with people
AIBO speaks to us by way of musical tones (robot language). It
also expresses its joy or desires through body language. The eye
lights are used to express emotions or give a yes or no response.
You can also initiate communication by presenting a ball to
AIBO. When approving or scolding AIBO, you can pat or hit the
touch sensor on its head.
Touch
Audition
Vision
13
Introduction to ERS-111 “AIBO”
Natural motions
A total of 18 motors (which is technically called “18 degrees of
freedom”) enables AIBO to move in a natural, smooth manner.
All the motors are cooperatively controlled and allow not only
basic movements like walking, sitting or lying down, but also
movements like looking around, tilting its head, or waving its
paws. AIBO can use more complicated body language, and will
even try to show off when in a good mood.
AIBO performance
Other than playing with it as an autonomous robot, you can
enjoy pre-programmed performances by switching it to the
performance mode. The performances prepared for AIBO can be
changed, and new original motions can be added with a separate
software (not supplied) called ERF-511 AIBO Performer Kit. This
software can enhance AIBO’s existing movements, as well as
help you create original robot motions.
Playing games
Once switched to the game mode, AIBO loses its autonomy and
reacts solely to human commands. In addition to simple
movements, such as moving back and forth and changing
directions, it can kick, show joy of winning, display sorrow after
losing a game, hold something in its mouth and let it go. Using
these functions, AIBO can play games such as robot soccer.
14
A robot in your home
There are still endless possibilities for AIBO and you as partners.
From the time of its birth, as it continues to live a life in touch
with humans, it will develop as not only a robot, but a
companion. We hope you enjoy this new kind of entertainment—
home entertainment that is born the moment you decide to begin
a life involving AIBO.
Introduction to ERS-111 “AIBO”
15
Capabilities of the sound controller
AIBO has perfect pitch and can distinguish musical tones. This
feature makes it possible to send commands to AIBO through
combinations of certain musical tones. This means you can even
control AIBO through a musical instrument or by whistling, as
long as the combination of notes and pitch are correct. However,
it takes some practice to hit just the right sounds that AIBO will
recognize. Therefore, a sound controller, which makes it easy to
produce sounds AIBO recognizes, is included. This section
introduces you to commands and sound controller features. For
details on how to use it, see chapters 2, 4 and 5.
Commands
Commands are combinations of specific musical tones. Various commands
are assigned to correspond to different note combinations. Use these
commands to change AIBO’s motion modes (e.g., changing from the
autonomous mode to the remote-control mode), or to enter a command for
an action in the game mode or the performance mode.
Each command consists of a combination of three individual tones all in the
same octave (from C to B) such as “C-D-E” and “F-E-C.” AIBO recognizes a
total of approximately 40 different commands.
Sound controller features
Sound controller (supplied) has three user-friendly features, including the
ability to switch the command transmission method.
(1) Three types of operating commands
Three types of operating commands are provided,
geared to different types of play. As described in
the following, the functions assigned to the
number/symbol buttons (command buttons)
change according to the operating command.
16
• Numeric commands: The entered combination of numbers (command
number) is sent as a command such as “Stand up” or “Sit down.”
• Single sound commands: Like a musical instrument, individual musical
tones are output by the sound controller when the command buttons are
pressed. This is useful when you want to hear the tones as you send a
command.
• Game commands: Game-only commands such as “Move forward” are
assigned to the command buttons. This is useful when playing games such
as soccer.
In this operation manual, most of the commands sending procedures are
written as numeric commands. When sending commands in the single sound
system, refer to “List of commands” on page 91.
(2) Easy switching between command types
The same commands can be sent in two different
octaves (command type A and B) with the sound
controller. This is useful when there are two
AIBOs involved in a game (see page 69), where
commands must be distinguished for each robot.
You can set the command type using the switch
on the side of the sound controller. For details, see
“Index to parts and controls” on page 24.
Capabilities of the sound
controller
(3) Auto OFF function
You can turn the sound controller on by pressing
the “C” button. The power turns off automatically
if the sound controller is not operated for three
minutes.
17
Unpacking
Check to make sure that you have the following items:
AIBO
Entertainment Robot “AIBO” ERS-111
Supplied accessories
Station
The station is used to charge AIBO’s batteries,
and also serves as AIBO’s home base.
18
Unpacking
Sound controller
You can control AIBO by sending commands (musical
tones).
GAME
ON
C
A
F
PICKUP
D
LOSE
C
VOL
SEND
231
B
A
5 64
G
G
RELEASE
897
E
F
WINTRACK
0
C
D
Ball
This is AIBO’s special toy. You can also use this for
robot soccer.
“Memory Stick”(8MB, ERA-111M) and case
The “Memory Stick” stores AIBO-ware (AIBO’s
operating program). You can also save the data of
AIBO’s activities with it.
AIBO power supply: ERA-110B lithium ion
battery pack (2)
AIBO operates only with the ERA-110B battery pack.
Remote controller power: Size AA (R6)
battery (2)
Documentation
Operation manual
“Raising AIBO – the handbook”
Certificate of Authenticity
AC adapter
The AC adapter allows AIBO to receive power from an
AC power supply when AIBO is mounted on the
station. Always keep the station and AC adapter
connected to the AC power supply.
19
Index to parts and controls
AIBO
Refer to the pages indicated in parentheses ( ) for relating information.
1 Touch sensor
2 Eye lights
3 Color camera
4 Speaker
5 Mouth
6 Pause button
9 Stereo microphone
q; Shoulder cover
qa Exhaust port
qs Tail
qd Legs
qf Charging
terminal
20
7 Chest light
8 Air intake
port
1 Touch sensor (52)
Allows AIBO to develop tactile relations when a person taps or pets it.
2 Eye lights (59, 95)
Light up in red or green, and indicate AIBO’s emotional state or response
to personal contact.
3 Color camera (52)
Allows AIBO to search objects and recognize the color, shape and its
movement. AIBO can measure the distance to an object and avoid
obstacles using this CCD color camera and the built-in distance sensor.
4 Speaker
Emits combinations of musical tones (robot languages) and sound effects.
5 Mouth (72)
Holds objects, and also indicates AIBO’s emotional state.
6 Pause button (28, 32)
Press this button to pause AIBO when changing batteries, if AIBO has an
internal trouble or if your hand gets caught between its joints.
7 Chest light (59, 96)
Indicates AIBO’s state of activity.
8 Air intake port
Takes air into AIBO to prevent internal heat buildup.
9 Stereo microphone (35)
Gathers sound and allows AIBO to distinguish musical tones, and its
direction.
0 Shoulder cover
Protects AIBO’s joints. If your fingers get caught in the cover, it
automatically opens.
qa Exhaust port
Emits air from the internal cooling device.
qs Tail
Shows AIBO’s emotional state by wagging.
qd Legs
Allow AIBO to walk and also indicate AIBO’s emotional state.
qf Charging terminal
Contacts with that of the station when charging the battery.
Index to parts and controls
Notes
• Do not put a sticker on
the color camera or head
cover.
• Be sure to keep the
shoulder cover closed
except in case of an
emergency.
• Do not put a sticker on
the movable parts or
insert anything between
them. Doing so may
obstruct AIBO’s
movement.
• Do not block the air
intake port or exhaust
port with your hand or
by putting a sticker on
them. Doing so may
cause internal heat
buildup.
• Do not touch the
charging terminal
directly with your hand.
Doing so may soil the
terminal and cause poor
contact.
• Pick up AIBO by the
body, not by its
extremities (see page 29).
• Do not force the joints or
other movable parts.
21
Index to parts and controls
Rear of AIBO
1 “Memory Stick” slot
2 “Memory Stick” access light
3 Battery slot
4 Serial number label
1 “Memory Stick” slot (29)
2 “Memory Stick” access light (96)
Lights up when loading/saving the data of AIBO’s activities in the
“Memory Stick.”
3 Battery slot (29, 77)
4 Serial number label
The label with your AIBO’s serial number.
22
Station
Refer to the pages indicated in parentheses ( ) for relating information.
1 POWER indicator
Index to parts and controls
5 AC IN power supply
connector
2 MAIN indicator
3 SUB indicator
4 Extra battery slot
1 POWER indicator (30, 74, 97)
Lights up in green when the station is turned on.
2 MAIN indicator (75, 97)
Lights up/flashes in orange (when AIBO is charging) or green (when AIBO
is fully charged), indicating the charging condition of AIBO.
3 SUB indicator (75, 97)
Lights up/flashes in orange (when battery is charging) or green (when
battery is fully charged), indicating the charging condition of the extra
battery pack.
4 Extra battery slot (75)
5 AC IN power supply connector (30)
Connects the AC adapter.
6 Charging terminal
A terminal for charging AIBO on the station.
Note
Do not touch the charging terminal directly with your hand. Doing so may soil the
terminal and cause poor contact.
6 Charging terminal
23
Index to parts and controls
Sound controller
Refer to the pages indicated in parentheses ( ) for relating information.
Face Back
3 GAME button
1 C (ON) button
2 Controller
operation
indicators
ON
C
A
F
D
C
PICKUP
LOSE
GAME
VOL
SEND
231
B
A
5 64
G
G
RELEASE
897
E
F
WINTRACK
0
C
D
4 VOL button
5 SEND button
6 Command
type switch
7 Command
buttons
8 Speaker
9 Battery
compartment
1 C (ON) button (34)
Press this button to turn the sound controller on or to cancel the entering of
the numeric command. The power turns off automatically if the sound
controller is not operated for three minutes.
2 Controller operation indicators (34, 98)
Four lights light up in green or orange (the color depends on the command
type), and indicate the operating commands of the sound controller or the
state of entering/sending commands.
3 GAME button (66)
When using numeric commands or single sound commands, press this
button to set the sound controller to emit game commands and also to set
AIBO to the game mode. When you press this button once more, the
operating command type is turned to the previous one and AIBO resumes
the autonomous mode.
24
4 VOL button
Press this button to adjust the volume of the sound controller. You can raise
and lower the volume in three levels.
5 SEND button (35)
When set for numeric commands, enter the command number and press
this button to send a command. When you press this button without
entering the command number, the same command as entered just before is
sent once more.
6 Command type switch (17, 34)
Selects the command type of the sound controller. Command type A
corresponds to the lower octave (C5 to B5: 523.25 - 987.76 Hz), and
command type B corresponds to the higher octave (C6 to B6: 1046.5 -
1975.53 Hz).
A: Command type A / numeric commands
B: Command type B / numeric commands
L: Command type A / single sound commands
H: Command type B / single sound commands
Index to parts and controls
7 Command buttons (16, 91, 94)
Press these buttons to enter or send commands. The functions assigned to
these buttons change according to the operating command type.
Printed symbols of the command button
Symbol of movements of the game commands
1
A
Musical tones of the single
sound commands
8 Speaker (35)
Emits the musical tones.
9 Battery compartment (31)
Numbers of the numeric
commands
25
Getting started
This chapter introduces you to the basic
features of AIBO—The autonomous mode
and the remote-control mode by using the
sound controller. After playing with AIBO,
place it on the station.
Preparation
First of all, get AIBO ready to move.
Preparing AIBO
Insert the “Memory Stick” and install the battery pack into AIBO.
AIBO has been set to the pause mode at the factory (the pause button on its
chest is pressed down).
The battery pack is not fully charged at the factory. With normal use, the
battery pack should last about half an hour. For details on charging the
battery pack, see page 74.
1 Make sure that the pause button on the chest is pressed down.
The button is pressed down about 1 mm.
2 Hold securely by the body and open the rear cover.
Slide the unlock button to open the cover.
Unlock
button
Notes
• Pick up AIBO by the body, not by its extremities.
• Do not touch the charging terminal on the underside of AIBO directly with
your hand. Doing so may soil the terminal and cause poor contact.
28
Preparation
3 Insert the supplied “Memory Stick” arrow-wise with the label side up.
Insert so that only the blue
colored part of the label is
visible.
Note
Do not set the safety switch of the “Memory Stick” to “LOCK” (see page 83). If
you do so, you cannot save the data of AIBO’s learning and maturation process.
Arrow
4 Insert the battery pack arrow-wise until it clicks.
Arrow
5 Close the rear cover, then place AIBO on the floor as shown below.
Place it on a flat surface that is not too slippery, such as a carpet with a
short nap. Choose a quiet place so that AIBO can hear the musical tones
of the controller.
Note
Be sure to place AIBO on the floor as shown above. This will prevent AIBO
from moving unexpectedly and being damaged when you press and release
the pause button to start AIBO.
29
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