Sony ERF-PC03 User Manual

4-659-403-11(1)

© 2001 Sony Corporation

English Edition

User’s Guide

©2002 Sony Corporation

For the customers in U.S.A.

This device complies with Part 15 of the FCC Rules.
Operation is subject to the following two conditions:
(1) This device may not cause harmful interference,
and (2) this device must accept any interference
received, including interference that may cause
undesired operation.

For Customers in Europe

CE (EMC) Marking Conformity Remarks
a) This equipment complies with EN55022.

Class B digital for use in following areas :
residential, business, and light-industrial.

b) This product conforms with the following

European Directive:
89/336/EEC (EMC directive)

For the customers in Canada

This Class B digital apparatus complies with
Canadian ICES-003.
Cet appareil numérique de la classe B est conforme à
la norme NMB-003 du Canada.

Note:

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 or more of 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.

Für Kunden in Europa

Hinweise zur Konformität mit dem CE-Zeichen
(EMV)

a) Dieses Gerät entspricht der europäischen Norm

EN55022 Klasse B (digital) für die Verwendung in
folgenden Gebieten: Wohngebiete, Gewerbegebiete
und Leichtindustriegebiete.

b) Dieses Gerät erfüllt die folgende europäische

Richtlinie:
89/336/EWG (EMV-Richtlinie)

Notice to Users

©2002 Sony Corporation All rights reserved. This
manual and the software described herein, in whole
or in part, may not be reproduced, translated or
reduced to any machine-readable form without prior
written approval.

EXCEPT AS SPECIFICALLY SET FORTH IN THE
SOFTWARE LICENSE AGREEMENT, SONY
CORPORATION PROVIDES THIS MANUAL, THE
SOFTWARE AND THE OTHER INFORMATION
CONTAINED HEREIN “AS IS” WITH NO
WARRANTY AND HEREBY EXPRESSLY
DISCLAIMS ANY IMPLIED WARRANTIES OF
MERCHANTABILITY NONINFRINGEMENT OR
FITNESS FOR ANY PARTICULAR PURPOSE WITH
REGARD TO THIS MANUAL, THE SOFTWARE, OR
SUCH OTHER INFORMATION. IN NO EVENT
SHALL SONY CORPORATION BE LIABLE FOR
ANY INCIDENTAL, CONSEQUENTIAL, OR
SPECIAL DAMAGES, WHETHER BASED ON TORT,
CONTRACT, OR OTHERWISE ARISING OUT OF
OR IN CONNECTION WITH THIS MANUAL, THE
SOFTWARE, OR OTHER INFORMATION
CONTAINED HEREIN OR THE USE THEREOF.

2

Sony Corporation reserves the right to make any
modification to this manual or the information
contained herein at any time without notice.
The software described herein may also be governed
by the terms of a separate user license agreement.

This product contains software owned by Sony and
licensed from third parties. Use of such software is
subject to the terms and conditions of license
agreements enclosed with this product. Software
specifications are subject to change without notice and
may not necessarily be identical to current retail
versions.

Before using this software, please read the
accompanying End-User License agreement
which governs use of this software.

“Reproduction in whole or in part without written
permission is prohibited. All rights reserved.”

Customer Support

How to contact the AIBO Customer Link.

U.S.A and Canada

1-800-427-2988 (U.S.A.)
Email address: [e-mail]

In Europe

English line: [phone]
German line: [phone]
French line: [phone]

In Australia

Call [phone] (toll free within Australia)
E-mail address: [e-mail]

In Hong Kong

Sony Style
[phone]
Email address: [e-mail]

In Singapore

[phone]
Email address: [e-mail]

“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 Master Studio ERF-PC03 conforms to
OPEN-R version 1.1, 1.1.1 and version 1.1.2.

• “AIBO,” the AIBO logo

, “OPEN-R” and
the OPEN-R logo are registered
trademarks of Sony Corporation.

• “AIBO Master Studio,” “R-CODE,” “Memory
Stick,” “

,” and “ ” are

trademarks of Sony Corporation.

• Acrobat Reader is a trademark of Adobe
Systems Incorporated.

• Microsoft and Windows are registered
trademarks of Microsoft Corporation in the
United States and other countries.

• All other system names and product names
mentioned herein may be the trademarks or
registered trademarks of their respective
companies.

Furthermore, “™” and “®” are not mentioned
in each case in this manual.

Information about AIBO is also available on the
Internet at:
http://www.aibo.com/

3

Sources of information

There are two AIBO Master Studio manuals.

User’s Guide (this manual)

The User’s Guide includes an overview of AIBO
Master Studio; installation, setup and other
information required to operate AIBO; and how
to use the programs that make up AIBO Master
Studio.

Tutorial Guide

The Tutorial Guide gives examples of how to
use AIBO Master Studio. If this is the first time
you’re using AIBO Master Studio, please follow
the tutorial and try all of the operations to get
acquainted with AIBO Master Studio. You can
also learn tips for using the product.

Note

Most illustrations and images are of AIBO ERS-

210.

About the Online Manual

The User’s Guide and the Tutorial Guide are
also available online as PDF files. To view these
files, you need “Acrobat Reader for Windows.”
First install Acrobat Reader.

To view the Online Manual

Click the Start button in Windows and choose
Programs* - AIBO Master Studio - User’s Guide
(or Tutorial Guide).

* If you are using Windows XP, click All Programs

instead of Programs hereinafter.

You can also display online manuals by
choosing from the Help menu in any AIBO
Master Studio application.

Tip

You can also display online manuals by double­clicking “User’s Guide.pdf” or “Tutorial
Guide.pdf” in the Doc folder of the CD-ROM.

Help Menu

You can refer to Behavior Arranger commands
in this manual as well as the Help system. Click
the Start button in Windows, choose Programs ­AIBO Master Studio- Command Reference, or
select the Help menu from within Behavior
Arranger, then Command Reference.

Installing Acrobat Reader

You can install “Acrobat Reader ver. 5.0 for
Windows” from the accompanying CD-ROM.
From Windows Explorer, double-click the CD­ROM drive’s “\Adobe\ar500eng.exe” file.
The setup program will start; just follow the
instructions that appear on the screen to install
the application.

Note

If you use a version older than “Acrobat Reader
ver4.05 for Windows,” text and images may not be
correctly displayed.

4

Table of contents

Chapter 1 Introduction

AIBO’s “behavior” and “action” ............................................................................ 12

What is AIBO Master Studio? ................................................................................ 13

Compatible AIBO Models.....................................................................................13

Program Configuration .........................................................................................13

AIBO Master Studio Setup.............................................................................. 13

Quick Behavior Arranger ................................................................................ 13

Behavior Arranger............................................................................................ 14

Action Composer..............................................................................................14

Compatibility with former versions.................................................................... 14

Data compatibility............................................................................................ 14

“Memory Stick” system file compatibility ................................................... 14

Redistribution of programs .................................................................................. 14

Relationships Between Programs ........................................................................ 15

AIBO State............................................................................................................... 16

Chapter 2 Preparations

Checking supplied accessories............................................................................... 18

System requirements ............................................................................................. 19

Set up ...................................................................................................................... 20

Installing the software........................................................................................... 20

Uninstalling the software ................................................................................ 20

Set up “Memory Stick” drive ............................................................................... 20

Create a “Memory Stick” appropriate for your AIBO model.......................... 21

Setting up a wireless LAN environment ............................................................ 22

Features available with wireless LAN environment...................................22

Required equipment ........................................................................................ 22

Wireless LAN information setup ...................................................................23

Execute Connection Test..................................................................................24

5

Chapter 3 Quick Behavior Arranger

Overview................................................................................................................. 26

How to use original actions ............................................................................ 26

How to Create Behaviors....................................................................................... 27

Chapter 4 Behavior Arranger

Overview................................................................................................................. 30

Main components of Behavior Arranger.............................................................. 31

Mouse modes.......................................................................................................... 31

Boxes ........................................................................................................................ 32

Action box .................................................................................................. 32

Branch box ................................................................................................. 32

Group box .................................................................................................. 33

Terminal box .............................................................................................. 33

Creating and Editing Behaviors............................................................................. 34

Start .......................................................................................................................... 34

Arranging Boxes..................................................................................................... 35

How to move boxes ......................................................................................... 35

How to delete boxes......................................................................................... 35

Connect Boxes ........................................................................................................ 36

How to connect branch boxes ........................................................................ 36

Connecting group boxes with several output terminals ............................ 37

Disconnecting boxes ........................................................................................37

Moving the connecting line ............................................................................37

Save and Execute Behaviors ................................................................................. 38

When you use “Memory Stick” drive ........................................................... 38

When you use a wireless LAN .......................................................................38

Creating and Editing Boxes ................................................................................... 40

Action box ....................................................................................................... 40

Branch box ....................................................................................................... 41

Condition dialog box ....................................................................................... 42

Group box ........................................................................................................43

How to designate a library to a group box................................................... 44

Terminal box ................................................................................................... 45

6

Using Groups .......................................................................................................... 46

Making a group ......................................................................................................46

When You Create Subroutines........................................................................46

When You Create a group (Subroutine) from a Group Box ....................... 47

Moving from group to group............................................................................... 48

Rearranging terminals........................................................................................... 49

How to Use Created Actions ................................................................................. 50

Printing Behaviors .................................................................................................. 51

Page Setup............................................................................................................... 51

Print.......................................................................................................................... 51

Command Reference .............................................................................................. 52

Action box commands...........................................................................................52

Action playback commands (Play-Action)................................................... 52

Commands that use variables ........................................................................ 55

Other commands ..............................................................................................56

Variables .................................................................................................................. 57

Common to all models ....................................................................................57

Words that can be used for voice recognition .............................................. 59

Media link sounds that can be used for sound recognition ....................... 60

Tonal scales that can be used for sound recognition................................... 62

For AIBO ERS-210/220 ....................................................................................64

For AIBO ERS-310 series ................................................................................. 67

Chapter 5 Action Composer

Overview................................................................................................................. 72

What you can make with Action Composer ...................................................... 72

The three elements of an action...................................................................... 72

Action .................................................................................................................73

Action library ....................................................................................................73

Files that can be created in Action Composer....................................................74

Window organization ............................................................................................ 75

Creating and Editing Files...................................................................................... 76

Creating a library first ........................................................................................... 76

Creating an action file first ...................................................................................79

7

Creating an element file first ................................................................................ 80

Motion file ......................................................................................................... 80

Sound file........................................................................................................... 80

LED file .............................................................................................................. 80

Using action libraries in Behavior Program....................................................... 81

When you use a “Memory Stick” drive ........................................................ 81

When you use a wireless LAN .......................................................................81

Editing Elements..................................................................................................... 82

Motion file ...............................................................................................................82

Editing motions ................................................................................................ 82

Editing Poses..................................................................................................... 85

Precautions on motions ................................................................................... 87

Editing sound ........................................................................................................88

MIDI file.............................................................................................................88

WAVE file...........................................................................................................92

LED file ....................................................................................................................93

Creating LED data............................................................................................ 94

Synchronizing elements ........................................................................................96

Adjusting the starting point of a sound file ................................................. 96

Using markers................................................................................................... 96

Checking elements and actions............................................................................ 97

Previewing on the PC ...................................................................................... 97

Executing tests on AIBO.................................................................................. 97

Printing windows ................................................................................................... 98

Page Setup............................................................................................................... 98

Print.......................................................................................................................... 98

Importing/exporting files ...................................................................................... 99

Import/export of action library files................................................................... 99

Importing........................................................................................................... 99

Exporting ........................................................................................................... 99

Using other AIBO-ware action files...................................................................100

Exporting action files ..................................................................................... 100

8

Chapter 6 Reference

Troubleshooting ...................................................................................................102

“Memory Stick” .................................................................................................... 105

Suitable “Memory Stick” products....................................................................105

Handling procedures...........................................................................................105

About the safety switch .................................................................................105

Precautions on writing to the “Memory Stick”..........................................105

Removing the “Memory Stick” from the PC card adapter ......................106

Precautions on use ......................................................................................... 106

Specifications ........................................................................................................ 107

Behavior Arranger................................................................................................ 108

Names and functions of the window................................................................ 108

Menus .................................................................................................................... 109

File .................................................................................................................... 109

Edit ................................................................................................................... 110

View.................................................................................................................. 110

Insert................................................................................................................. 110

Group ............................................................................................................... 111

Help .................................................................................................................. 111

Mouse operation .................................................................................................. 112

Edit window.................................................................................................... 112

History bar ...................................................................................................... 112

Keyboard operation ............................................................................................. 113

Edit window.................................................................................................... 113

History bar ...................................................................................................... 113

Action Composer .................................................................................................. 114

Main window ....................................................................................................... 114

Names and functions of window................................................................. 114

Menus............................................................................................................... 115

Action Window .................................................................................................... 118

Names and function of window .................................................................. 118

Menus............................................................................................................... 119

Pose Window........................................................................................................ 122

Names and function of window ..................................................................122

9

MIDI Window.......................................................................................................123

Names and function of window ..................................................................123

Menus............................................................................................................... 124

WAVE Window.....................................................................................................126

Name and function of window .................................................................... 126

Menus............................................................................................................... 127

LED Window ........................................................................................................ 128

Names and functions of window................................................................. 128

Menus............................................................................................................... 129

Preview Window.................................................................................................. 131

Names and functions of window................................................................. 131

Motion Viewer window ......................................................................................132

Names and functions of window................................................................. 132

Menus............................................................................................................... 133

Glossary................................................................................................................. 134

AIBO Master Studio Setup terms ......................................................................134

Quick Behavior Arranger/Behavior Arranger terms ..................................... 135

Action Composer terms ...................................................................................... 135

File organization and files ................................................................................... 137

Common composer..............................................................................................137

Behavior Arranger ............................................................................................... 137

Principal files ........................................................................................................ 138

Index...................................................................................................................... 139

10

Chapter 1

Introduction

Gives you an overview of the AIBO Master Studio software.

Chapter 1 Introduction

Chapter 1 Introduction

AIBO’s “behavior” and “action”

AIBO’s movements are made up of comparatively brief units of movement (“motions”) — raising its
face, taking steps — which are performed sequentially. Besides motion, AIBO expresses itself in
various ways by emitting sound (melodies and sound effects) and flashing its LED lights. In AIBO
Master Studio, motion, sound and LED lights combined make up an “action” and actions are strung
together to produce continuous movement called a “behavior.”

Behavior

Action 3

Action 1

Action 1

Motion 1

Sound 1

LED 1

To use AIBO Master Studio, you need to understand the relationship between behaviors and actions.

Action 2

Action 4

Action 5

12

Chapter 1 Introduction

What is AIBO Master Studio?

AIBO Master Studio is an application that enables you to design actions and behaviors that your can
AIBO perform. Create programs that make AIBO play games or act like a pet with unique actions and
behaviors, so you can enjoy your own AIBO characteristics.
AIBO Master Studio is compatible with wireless LANs (ERS-210/220 only), so you can efficiently
make behaviors and actions using a wireless LAN.

Compatible AIBO Models

AIBO Master Studio ver.1.1 is compatible with the following AIBO models.

• AIBO ERS-210

• AIBO ERS-220

• AIBO-ERS-310 series

Program Configuration

The AIBO Master Studio Program is made up of four programs as follows.

AIBO Master Studio Setup

Before programming actions and behaviors using AIBO Master Studio, copy the necessary system files
for operating AIBO to a “Memory Stick” by using the AIBO Master Studio Setup program.
If you use AIBO Master Studio in a wireless LAN environment, you need to set up items such as a
User ID, password, and AIBO IP address.

Quick Behavior Arranger

Quick Behavior Arranger is a simple behavior creation program. A wizard screen appears so you can
easily create behaviors by following on-screen directions.
You can put together a behavior program by using only the built-in actions. Or, you can make original
actions with Action Composer and use them in your behavior program.

13

Chapter 1 Introduction

Behavior Arranger

This application is a tool for making behavior programs for your AIBO. For instance, you can make a
program to make AIBO walk along the perimeter of a square, or turn right or take a few steps
backward when you touch its head.
You can create behaviors that are more intricate by adding branches and subgroups of behaviors to
the behavior program. Version 1.1 can create programs with voice-recognition capabilities and sounds
(media link sounds, tonal scales).

You can put together a behavior program by using just the built-in actions. Or, you can make original
actions with Action Composer and use these in your behavior program.

Action Composer

This application lets you modify a sample action or create an action from scratch. Take a simple yawn:
a person yawning with the mouth wide open makes a completely different impression from one who
hides the yawn behind a hand. By using original actions tailored to each situation, your AIBO will
become capable of individual expressions.

With Action Composer, you create an action that synchronizes the three elements: motion, sound and
LED. For example, a yawn that escapes as soon as AIBO opens its mouth or a dance that AIBO
performs to music. The actions you make will be used in Quick Behavior Arranger or Behavior
Arranger as part of a behavior program.

Compatibility with former versions

Data compatibility

You can use behavior programs and action files (action library files, action files, element files) created
with AIBO Master Studio version 1.01 in version 1.1. (AIBO Master Studio recognizes files except
sound files as AIBO ERS-210 data. Sound files can be commonly used with the ERS-210/220/310
series.)

“Memory Stick” system file compatibility

A “Memory Stick” used with AIBO Master Studio version 1.0/1.01 can be used if you copy version 1.1
system files to it. Do not use older version system files.

Redistribution of programs

Created programs (files saved to a “Memory Stick”), system files, and the interpreter can be
redistributed. See redist.txt in one of the installed folders for details.

14

Chapter 1 Introduction

Relationships Between Programs

In order to use AIBO Master Studio, first set up various items using the AIBO Master Studio Setup
program, and copy the necessary system files for operating your AIBO model to a “Memory Stick.”
Then you can create actions to be used by the behavior program.
When you install AIBO Master Studio, built-in actions (system actions) will be copied to the hard disk.
If there aren’t enough actions, or you want to create original ones, you can program actions using
Action Composer.
Once you have all actions prepared, arrange them using Quick Behavior Arranger or Behavior
Arranger to make behavior programs, and execute them by using a “Memory Stick” or a wireless
LAN.

AIBO Master Studio Setup

• Set up “Memory Stick” drive

• Copy the system files to a “Memory Stick”

• Set up a wireless LAN

Using a “Memory Stick”
drive

[When you want to create
complicated behaviors]

System
action

Behavior Arranger

Create behavior program

Execute by writing to a
“Memory Stick”

Action Composer

Create original

actions

Actions will be copied to
the hard disk when they
are written to a “Memory
Stick,” and they can be
used in Behavior Arranger.

Using a wireless LAN
(for ERS-210/220 only)

[When you want to easily create
behaviors]

System
action

Quick Behavior Arranger

Create behavior program

Execute by writing to a
“Memory Stick”

15

Chapter 1 Introduction

AIBO State

Depending on AIBO’s mode, a built-in program may interrupt your behavior program and run
instead. When AIBO resumes normal mode, the interrupted behavior program is reset and starts
running again from the top. Before you have fun with your programs, look at the diagram below to
understand how AIBO’s modes will affect your behavior programs.

Normal mode

Your program is
executed from the
beginning and AIBO
moves as programmed.

Notes

• Do not use AIBO in

places subject to
vibrations, on an
incline, or at a place
where it might drop.

• Do not surround

AIBO with objects
that may obstruct its
movements.

Falls down

Something gets caught
in its leg or neck joints

Press the head sensor for 3 seconds.

Push the tail switch in the front

AIBO is picked up

Place AIBO on the floor or press

Stands up by itself

ERS-210

ERS-220

Push the head sensor in the

front direction for 3 seconds

ERS-310 Series

direction for 3 seconds

ERS-210

the head sensor for 3 seconds

Jam condition

Joints loosen up

Mode indicator
flashes

Mode indicator
flashes

Mode indicator
flashes

Picked-up
condition

When you lift up AIBO,
it becomes still and quiet
in this mode.

Mode indicator
flashes

16

Place AIBO on the floor or push the head

ERS-220

sensor in the front direction for 3 seconds

ERS-310 Series

Place AIBO on the floor or push the tail

switch in the front direction for 3 seconds

To charge the battery pack

See the manual for the AIBO unit.

Notes

• AIBO will not move when it is being charged, i.e. it’s connected to the AC adapter.

• Do not execute your program while AIBO is on the Station (Energy Station or Stand with Energy Station Core)

or on the Stand.

Mode indicator
lights

Mode indicator
lights

Chapter 2

Preparations

What you need to do to use AIBO Master Studio.

Chapter 2 Preparations

Checking supplied accessories

First, check that you have all the supplied accessories.

x CD-ROM
x “Memory Stick,” and case, and “Memory Stick” labels (3 labels)

The included AIBO Programming Memory Stick ERA-MS008 is the same as the ones sold separately
in stores. Save data you create using AIBO Master Studio on this “Memory Stick.”

x Printed material

• End-User License Agreement

• User’s Guide (this book)

• Tutorial Guide

• Key code sticker (set of two)
The key code is required to install the software. Place the key code sticker on the CD-ROM case, and

keep it in a safe place.

18

Chapter 2 Preparations

System requirements

You need to have an IBM PC/AT compatible machine with the following specifications:
OS Microsoft Windows XP

Microsoft Windows 2000 Professional (Service Pack 1 or newer)
Microsoft Windows Millennium Edition
Microsoft Windows 98 Second Edition
English/French/German/Chinese Edition

CPU Intel MMX Pentium 300 MHz and or greater
RAM 64 MB or greater
Drive: Hard disk drive: 120MB or greater

CD-ROM drive (required for software installation)

Video card and display 800 × 600 pixels or greater, High-color (16 bit) or greater
Sound: Sound chip compatible with the OS, or a sound card and speakers

(required for creating/checking AIBO sounds).

“Memory Stick” system requirements:

Built-in “Memory Stick” drive or “Memory Stick” reader/writer

Wireless LAN system requirements (ERS-210/220 only optional):

– Wireless LAN PC cards* compliant with the IEEE 802.11b
or
– An access point* compliant with the IEEE 802.11b standard (for
wireless communications with a computer connected to a wired
LAN.)

* Please use Sony recommended products.

19

Chapter 2 Preparations

Set up

Installing the software

Install AIBO Master Studio from the
accompanying CD-ROM.

1 Turn on your PC and start

Windows.

Notes

• End all applications and virus detection
programs before running the setup program.

• When installing to Windows 2000, or
Windows XP log on as the administrator or
as an Administrators Group member.

2 Insert the supplied CD-ROM in

the CD-ROM drive.

The setup program is executed
automatically. If the Setup program does
not start, double-click the “Setup.exe” file
in the CD-ROM drive.
Follow the on-screen instructions.

Note

Please see the attached key code sticker for the
key code.

Set up “Memory Stick”
drive

In order to use a “Memory Stick” with AIBO
Master Studio, you first need to set the
“Memory Stick” drive.

Note

You need a “Memory Stick” drive even if you use
AIBO Master Studio with a wireless LAN. Make
certain that you perform both “Set Up ‘Memory Stick’
Drive” and “Set Up Wireless LAN.”

1 Click the Start button in

Windows and choose Programs ­AIBO Master Studio - AIBO
Master Studio Setup.

The AIBO Master Studio Setup dialog box
appears.

2 Set the “Memory Stick” drive

Uninstalling the software

If you don’t need AIBO Master Studio any
longer, go to the Windows Control Panel and
choose Add/Remove Programs to delete it.

Note

This procedure removes all programs and data that
were installed. Data made by the user will not be
deleted.

20

Enter the drive path
Make certain that you specify a path
immediately below the root (\).

If you don’t know the drive path, click the

icon to choose the drive.

Chapter 2 Preparations

3 Click OK

The “Memory Stick” drive will be set.

Note

If other AIBO Master Studio applications are
running, restart the programs to activate the
applications.

Create a “Memory Stick”
appropriate for your AIBO
model

In order to use the included “Memory Stick” or
a separately sold “AIBO Programming Memory
Stick” with AIBO Master Studio, you need the
system files (OPEN-R folder) that are necessary
for AIBO movements. Make certain that you
copy the system files using the following
method before using a “Memory Stick” for the
first time.

Note

• Regular “Memory Sticks” sold in stores and
“Memory Sticks” loaded with AIBO-ware
applications cannot be used. (Programs you create
on such a “Memory Stick” cannot be executed on
AIBO.)

• You cannot write system files for several AIBO
models to a “Memory Stick” at the same time.

• You can also use a “Memory Stick” used with an
older version. If older version system files exist,
delete the OPEN-R folder using Windows Explorer,
and copy the system files again.

Tip

• Once you copy system files, you don’t need to copy
them again unless you change the AIBO model.
If you want to change the AIBO model, copy the
system files again.

• If you copy system files onto a used “Memory
Stick,” it will be overwritten, and saved Behavior
Programs and Action Libraries will be deleted.
However, wireless LAN settings won’t be
overwritten, so you don’t need to set them up
again.

21

Chapter 2 Preparations

1 Click the Start button in

Windows and choose Programs ­AIBO Master Studio - AIBO
Master Studio Setup.

The AIBO Master Studio Setup dialog box
appears.

2 Insert a “Memory Stick” into the

drive.

3 Select your AIBO model.

Select your AIBO model name.

An (E) model name means it does English
voice-recognition.

4 Click Copy System Files.

The system files for the selected model
will be overwritten on the “Memory
Stick” in the specified drive.

5 Click OK

Setting up a wireless LAN
environment

If you are using AIBO ERS-210/220, you can
wirelessly transfer programs and data that you
have created between AIBO and your PC by
using AIBO wireless LAN card (sold
separately).

Features available with wireless
LAN environment

Wireless LAN makes the features listed below
possible. You’ll be able to make actions and
behaviors more efficiently because you’ll be
able to test them in the process.

– Upload behavior programs
– Command AIBO to execute behaviors

(You can trace a group box that is currently
being executed.)

– Upload the action library
– Command AIBO to test-run actions and

elements (motions, sounds, LED’s)

Required equipment

Both your AIBO and PC need to support
wireless LAN and be capable of wireless LAN
communication.
The AIBO Master Studio software enables
wireless communication between your PC and a
single AIBO.

22

For AIBO

You will need both of the following:

• AIBO Wireless LAN Card

For instructions on installing the card in
AIBO, please refer to the manual of the AIBO
Wireless LAN Card.

• “Memory Stick”

Use the “Memory Stick” included in the
AIBO package or an AIBO Programming
Memory Stick (sold separately) to which the
appropriate system files have been copied.

Chapter 2 Preparations

For the PC

You will need either of the following:

• A PC equipped with an IEEE802.11b­compatible wireless LAN card*

• PC connected to a wired LAN through an
access point* compliant with the IEEE 802.11b
standard

* Please use Sony recommended products.

When an access point is used

When an access
point is not used

Notes

The PC can be connected to the access point via
wireless LAN or wired LAN (network cable).

• To connect the PC to the access point via wireless

LAN, install an IEEE802.11b-compatible wireless
LAN card on the PC.

• To connect the PC to the access point via wired

LAN, you will need a hub and two network cables.

Wireless LAN information setup

Insert the AIBO wireless LAN card into your
AIBO, and start the setup program.

Tip

You can set up a wireless LAN connection using a
LAN by inserting a “Memory Stick” with the
appropriate system files in AIBO and using a
computer connected to the LAN. Please see the
wireless LAN card operating manual for details.

Note

If you insert a “Memory Stick” and start AIBO while
the AIBO wireless LAN card is pulled out, the
network settings on the “Memory Stick” will return to
default values.

You can proceed with set up in AIBO Master
Studio Setup by inserting a “Memory Stick” into
the “Memory Stick” drive.

1 Click the Start button in

Windows and choose Programs ­AIBO Master Studio - AIBO
Master Studio Setup.

The AIBO Master Studio Setup dialog box
appears.

2 Insert the “Memory Stick” with

the appropriate system files into
the drive.

23

Chapter 2 Preparations

3 Set up wireless LAN

information.

1 Check the Use AIBO Wireless LAN

Card box.

2 If you want to display “Memory Stick”

information click [Import].

3 Input the AIBO IP address (AIBO

wireless LAN card).

4 Input the Subnet Mask.
5 Input the Default Gateway IP address.

You may omit specifying an IP address,
in which case the default gateway will
not be used.

6 Input the AIBO name (up to 8

alphanumerical characters) that will be
used in the wireless zone.

7 Input the wireless network name (up to

32 alphanumerical characters).

8 Input the key characters to be used for

encryption of wireless data (5
alphanumerical characters). If you
don’t want to use encryption, do not
enter anything.

9 Select the Action mode (wireless LAN

topology).

0 Select the wireless channel (when you

use ad hoc mode).

qa Input the user ID (up to 8

alphanumerical characters) to log on to
the wireless network.

qs Input password (up to 8

alphanumerical characters) to log on to
the wireless network.

qd Enter the same password you input in

step qs again to confirm it.

Tip

If you don’t designate a user ID and password,
anyone can access your AIBO wireless LAN
connection without authentication, so we recommend
that you set up a user ID and password.

4 Click [Export].

This saves the wireless LAN settings and
makes wireless LAN functions available
to AIBO Master Studio.

5 Click [OK] to close the window.

Tip

The wireless LAN setup information that is input last
will also be stored on the PC, so you don’t need to
input information from the beginning every time you
use a new “Memory Stick.”

Execute Connection Test

If you insert the “Memory Stick” that you used
to set up the wireless LAN into AIBO, boot
AIBO, and click Test Connection, that will
execute an AIBO connection test using the set
wireless LAN information.

24

Chapter 3

Quick Behavior

Arranger

How to use Quick Behavior Arranger.

Chapter 3 Quick Behavior Arranger

Overview

Quick Behavior Arranger enables you to create two kinds of programs. It’s a wizard, so even people
who aren’t familiar with the program can easily create AIBO programs.
The Tutorial Guide explains how to use Quick Behavior Arranger using examples.

• Sequential Execution Type

A behavior program describing a series of AIBO actions such as “stand up, move, and sit down.”

1 Stand up 3 Sit down2 Walk 50cm

• Stimulus - Driven Execution Type

A behavior program that makes use of sensor inputs, voice recognition, and other functions.

Banzai

Fewer commands are available in Quick Behavior Arranger compared to Behavior Arranger, so use
Behavior Arranger if you want to create complicated programs.

How to use original actions

You can add original actions in addition to system actions that are already prepared to behaviors. If
you use original actions, use Action Composer first to save an action library onto a “Memory Stick.”
For details about Action Composer, see “Chapter 5 Action Composer” (page 71).

26

Chapter 3 Quick Behavior Arranger

How to Create Behaviors

Start Quick Behavior Arranger, and create behavior programs by following the instructions on the
screen.

1 Click the Start button in

Windows and choose Programs ­AIBO Master Studio - Quick
Behavior Arranger.

A window to select the model appears.

2 Select your AIBO model name

and click Next.

Select your AIBO model and click Next.
A window to select the program type
appears.

3 Select Behavior Program type

and click Next.

Follow the instructions on the screen.

Note

You can use Behavior Arranger to edit programs
created using Quick Behavior Arranger. If you open a
program that you created in Behavior Arranger, it
automatically places as many action boxes as there are
action selection fields. If you don’t input anything in
an action selection field, the action box won’t have
any commands.

27

Chapter 3 Quick Behavior Arranger

28

Chapter 4

Behavior

Arranger

Procedures for using Behavior Arranger.

Chapter 4 Behavior Arranger

Overview

Behavior Arranger shows ABIO behaviors in a flowchart to create behavior programs. You can create
anything from programs made of simple sequential actions such as “stand up and walk” to
complicated programs using branching programs, and subroutines using conditions such as “when
the head is touched, turn right.” You can use events that use sensor switches, as well as voice
recognition words in English, and sounds (media link sounds and tonal scales), as conditions.
You can quickly create behavior programs using built-in system actions in Behavior Arranger. If you
want to use your own original actions, create actions using Action Composer and arrange them in
Behavior Arranger to incorporate the actions in programs. For Action Composer details, see “Chapter
5 Action Composer” (page 71).

Action Composer

Original actions

Behavior Arranger

System actions

Behavior Behavior

Action

Action

Action

Action

Subroutine

Action

Action

Action

Action

+

Original actions

Behavior

Action

Condition

Action Action

30

Chapter 4 Behavior Arranger

Main components of Behavior Arranger

In Behavior Arranger, program structures are
expressed as flowcharts, making the
programming process easier to understand.
Choose from among the several boxes on the
toolbar, drag them to the edit window, and
connect them to create a flowchart.

Toolbar

Edit window

Mouse modes

In the edit window, operate the mouse by
switching between the two modes.

Mouse: normal mode

Select this mode to place and move boxes in the
edit window.

Mouse: link mode

Select this mode to connect boxes that have
been placed in the edit window. When you drag
from the terminal (round white dot) of one box
to the box you want to connect, a line appears
linking the two boxes.

31

Chapter 4 Behavior Arranger

Boxes

Input commands in boxes and connect the boxes with the mouse.

Action box

The box is used for designating commands such
as AIBO actions other than branching
conditions. Sequential commands can be
designated in one box.
Commands in an action box are designated in
the Action properties dialog box.

Action properties dialog box

Designate sequential
commands in one box.

PLAY, STOP, QUIT, ADD and SUB are
examples of action box commands.
Example:

Main Sub Name Horizontal Distance
PLAY ACTION WALK 20 100

The example above commands AIBO to walk
for about 100 mm at an angle of 20° to the left.
(For the horizontal angle, + indicates an angle to
the left and – indicates an angle to the right. The
actual distance AIBO walks will depend on the
condition of the floor.)

Branch box

This box is for designating a branch in the
program.
Branch conditions in a branch box are
designated in the Branch properties dialog box.

Branch properties dialog box

Designate conditions and
jump destinations.

IF, AND, OR and ELSE are examples of branch
commands.
Example:

Type Variable Op Value Jump to
IF DISTANCE < 200 LeftTurn
ELSE MoveForward

In the example above, if the distance to an
obstacle is less than 200mm, the program jumps
to the box named LeftTurn, and in all other
cases jumps to the box named MoveForward.

32

Chapter 4 Behavior Arranger

Group box

A box containing subroutine (grouped
programs). The subroutine called by a group
box is designated in the Group properties
dialog box.

Groups form levels. In Behavior Arranger, due
to programming limitations, an upper-level
group can activate a lower-level group but not
vice-versa. (When group A activates group B,
group A is at a higher level than group B.)

Group properties dialog box

Choose a subroutine (group).

A group at the highest level is a Main group.

Terminal box

The terminal box indicates the beginning or end
of a program or a subroutine. The START box
and END box in the Main group that are
displayed when you first start making a
program or subroutine are also terminal boxes.
Designate the name of a terminal box in
Terminal properties.

Terminal properties dialog box

Saved behavior programs (.be) can be used as
subroutines in other programs.
It is very convenient if you create programs to
be used as subroutines beforehand, and add
them to the Behavior Library Folder (\AIBO
Master Studio\BA\Library) in AIBO Master
Studio. Click library box
subroutines.

to select

33

Chapter 4 Behavior Arranger

Creating and Editing Behaviors

Create behavior programs either by starting Behavior Arranger and creating new programs, or by
editing programs that you already have. This section explains how to create a new behavior program.

Start

1 Click the Start button in

Windows and choose Programs ­AIBO Master Studio and click
Behavior Arranger.

Behavior Arranger will start.

For an explanation of Behavior Arranger
names and functions, see “Behavior
Arranger” in “Chapter 6 Reference” (page

108).

2 From the menu, choose File-

New.

The Select model dialog box appears.

3 Select your AIBO model

Select your AIBO model name, and click
OK.
START Box and END Box appear in the
Edit window.

Toolbar

Edit window

Tip

If you want to edit a program that you already have,
select File-Open from the menu to load the file that
you want to edit. Programs that you created using
previous versions of AIBO Master Studio will be
loaded as AIBO ERS-210 programs.

34

Arranging Boxes

Chapter 4 Behavior Arranger

Position boxes in which to designate commands
in the edit window.

1 Select a box

Click the Box button on the toolbar or
select Box from the Insert menu.
A highlighted box appears.

Tip

You can also select Box from the context menu
that appears by right-clicking on the edit
window.

2 Position a box

Click the position you would like the box
to move to in the edit window.
The box’s properties dialog box appears.

3 Input content for the box.

Input box commands in the properties
dialog box. For details, see “Creating and
Editing Boxes” (page 40).
You can change the contents of a box later,
so you may create the overall flow of a
program by allocating empty boxes, then
input commands into those boxes.

4 Close properties dialog box

Click OK in the properties dialog box.
Box will be positioned in the edit window.

5 Allocate as many boxes as you

need

Repeat steps 1 to 4 to position as many
boxes as you need.

Note

You can use around 10,000 boxes in Behavior
Arranger. However, since AIBO main memory is
shared with the Action Library and AIBO system files,
the number of boxes and commands that can be used
in Behavior Arranger will be reduced if memory­intensive actions are used.

How to move boxes

Put the mouse in normal mode and drag the
box that you want to move.

How to delete boxes

Select the box that you want to delete and press
the Delete key. You can also delete by right­clicking on a box and selecting Delete Box from
the context menu.

35

Chapter 4 Behavior Arranger

Connect Boxes

Once you position boxes in the edit window,
connect box terminals to associate them with
each other.
A round dot on the top of a box is an input
terminal, and a round dot at the bottom of a box
is an output terminal.

1 Put the mouse in link mode

Click on the Toolbar.

2 Drag from the source box to the

destination box

A white line will appear between the
boxes, and the output terminal of the
source and the input terminal of the
destination box will be connected.

How to connect branch boxes

Connect branch boxes by designating the
branching conditions. Determine subsequent
processes according to conditions such as “with
the word ‘hello,’ shift process to movement A,”
or “stop if approaching an obstacle.”

As many output terminals as branching
conditions designated in the Branch properties
dialog box will be set up. If you place the mouse
cursor on an output terminal, the conditional
expression will be displayed. If you drag from
any output terminal to a destination box,
corresponding conditional expressions and
subsequent processes will be connected.
You can also connect a branch box and
destination box by dragging without having to
first set up the Branch properties dialog box of a
branch box. In this case, you need to designate
one or more branching conditions to branch to a
destination box in the Condition dialog box that
will appear as you drag.

3 Connect the rest of the boxes

Repeat the dragging process to connect all
of the boxes.

36

Chapter 4 Behavior Arranger

Connecting group boxes with
several output terminals

If there are several output terminal boxes in a
group (subroutine), as many output terminals
as terminal boxes will appear for a
corresponding group box. If you place the
mouse cursor on an output terminal, the
corresponding terminal box name will appear,
so check the box name, choose a terminal, and
drag it to the destination box to connect it.

Disconnecting boxes

Select a line to disconnect and press the Delete
key.
You can also use the following alternative
methods.

• Use the Delete Connection context menu item
that appears when you right-click a line.

• Right-click on the output terminal or the box,
and choose Delete Connection from the
context menu (if there are several
connections, a selection menu will appear).

Note

If you delete a box, any connection lines from the
box’s output terminals will also be deleted at the same
time.

Moving the connecting line

Set the mouse to normal mode, select the line
you want to move and drag it to the new
position.

Tip

• A straight connection line with no angles cannot be
moved.

• Connection lines cannot be moved to overlap their
own box.

• For a group box designated to a group with several
terminals, you can rearrange the terminals to
eliminate line crossovers. For details, see
“Rearranging terminals.” (page 49)

37

Chapter 4 Behavior Arranger

Save and Execute Behaviors

Save created behavior programs using a
“Memory Stick” drive (“Memory Stick”
Reader/Writer) or using a wireless LAN, and
execute them on AIBO.

Note

System files for different models cannot be saved to
the same “Memory Stick.”

Tip

Programs created in Behavior Arranger will be saved
in \OPEN-R\APP\PC\AMS\R-CODE.R on a
“Memory Stick.”

When you use “Memory Stick”
drive

1 Insert a “Memory Stick” with

the appropriate system files into
the drive.

2 While the behavior program is

displayed in the edit window,
from the menu select File - Save
to Memory Stick.

When saving is completed, a confirmation
message will appear.

When you use a wireless LAN

1 Insert a “Memory Stick” with

the appropriate system files into
AIBO, and boot AIBO.

2 While the behavior program is

displayed in the edit window,
from the menu select File ­Wireless LAN Connection.

Wireless LAN connection will appear and
the computer connects to AIBO over the
wireless LAN.

3 Insert the “Memory Stick” into

AIBO and boot AIBO.

When AIBO is booted, a behavior
program will be automatically executed. If
you want to execute it again, press the
Pause button on AIBO to stop the
movement, and reboot.

38

3 Click the function button that

you want to use.

Execute

Transfers a behavior program to the
“Memory Stick” inserted into AIBO and
executes it.

Stop

Stops a process that is being executed by
AIBO after the current action is
completed.

Emergency Stop

Immediately stops a process that is being
executed by AIBO including the current
actions. AIBO will be unstable after an
emergency stop, and if you select Execute
again, AIBO will start “stretching.”

Write

Transfers the behavior program to the
“Memory Stick” inserted in AIBO without
executing it.
(The same as selecting the File-Save to
Memory Stick from the menu.)

Delete

Deletes the behavior program from the
“Memory Stick” inserted in AIBO.

Check Box

Trace Box Name

Displays the group and box name of a
program that is being executed in AIBO.
This is convenient to see if there are errors
in the program.

Chapter 4 Behavior Arranger

Step Execute

If this is checked, execution pauses every
time an action completes in the program.
To continue, click the Execute button
again. This is convenient to see if there are
errors in the program.
If this isn’t checked, clicking the Execute
button will play the program from the
beginning.

4 If the program execution is

complete, click Disconnect.

The wireless LAN connection will be
disconnected, and the dialog box will
close.

39

Chapter 4 Behavior Arranger

Creating and Editing Boxes

Create or edit boxes, and specify program commands. Please see “Command Reference” (page 52) for
available command details.

Action box

When you place an action box in the edit window or double-click on an existing box, the Action
properties dialog box is displayed. Sequential commands (other than branching) can be designated in
one box.

3 Combo box

Specify commands and
parameters starting with the
Main command. The
number of parameters and
boxes you need to specify
are determined by the
command.
Column with *

Discretionary
input is
available.

Column with #

Numerical input
is available.

Comment: type in

comments about
the command
(optional)

List

Lists the commands
designated for this box.
AIBO will execute commands
in the order that they appear in
this list.

4Add

Click this button to
add to the list a
command specified
in the combo box.

Modify

Reflects changes
made in the combo
box to the list.

Delete

Deletes the selected
line from the list.

[Up] [Down]

Moves the selected
line up or down
the list.

1Name

Input the box name.

5 OK

Closes the
dialog box.

2Comment

Type in your
comments about the
box (optional).

Cancel

Cancels a new
box or an
operation in the
Action
Properties dialog
box.

Auto Modify

If you check this, changes in
the Combo box will
automatically reflect the
selected command.

To edit a command in the list

1Select a command from the list.
2To change, add changes to the command in the combo box and click Modify.

To delete, click Delete.
To change the list order, click [Up] [Down] and move the line up or down the list.

40

Chapter 4 Behavior Arranger

Branch box

When you place a branch box in the edit window or double-click on an existing box, the Branch
properties dialog box is displayed. Branch conditions are designated in this box.

4 Add

Click this button to
add to the list a
condition specified
in the combo box.

Modify

Reflects changes
made in the combo
box to the list.

Delete

Deletes the selected
line from the list.

1Name

Input the box
name.

[Up] [Down]

Moves the
selected line
up or down
the list.

2Comment

Type in your comments
about the box (optional).

5 OK

Closes the dialog
box.

3 Combo box

Enter branch conditions.

Type:

Branch condition

Variable:

First operand

Op: Comparison operator
Value:

Second operand

Jump To:

The box to jump to
when a condition is
met

Comment:

Comments about the
command (optional)

List

Lists the conditions designated
for this box.
Decisions based on conditions
are made in the order the
conditions appear on the list.

Auto Modify

If you check this, changes in the Combo
box will automatically reflect the
selected command.

Cancel

Cancels a new box or an operation in
the Branch Properties dialog box.

To edit a command in the list

1Select a command from the list.
2To change, add changes to the condition in the combo box and click Modify.

To delete, click Delete.
To change the list order, click [Up] [Down] and move the line up or down the list.

41

Chapter 4 Behavior Arranger

Condition dialog box

You can designate branch conditions for a branch box in dialog boxes other than the Branch properties
dialog box.
Put the mouse in link mode, and designate conditions in the Condition dialog box that appears when
you drag from the branch box to the action box to jump to.

1 Combo box

Enter branch
conditions.
If you don’t have
several destinations
in the branch box,
select ELSE.

2 Specify AND/OR for the

conditions entered in
step 1.
AND:

branch is determined
by AND conditions
when there are
several conditions

OR: branch is determined

by OR conditions
when there are
several conditions

3 OK

Closes the dialog
box.

Cancel

Cancels the
operation.

Var1:

First operand

Op: Comparison

operator

Var2:

Second operand

42

Chapter 4 Behavior Arranger

Group box

When you place a group box in the edit window or double-click on a group box without a designated
group, the Group properties dialog box is displayed.
Specify the group (subroutine) to activate in this box.
If a group is already specified, right-click on the box and select Properties from the menu to display it.

1 Name

Input the box name.

3 Group

Specify the name of
the group activated
by this box.
Select from the
existing group
(including libraries)
or input a new group
name. If you input a
new group name, a
group will be created
and its edit window
will appear.

Note

A group box and a group are different. A group box is something that activates a group, and a group is a
subroutine entity. Even if you delete a group box, the group won’t be deleted. In the same manner, even if
you delete a group, the group box won’t be deleted.

2 Comment

Type in your comments about the box
(optional).

4 OK

Closes the dialog
box.

Cancel

Cancels a new box or
an operation in the
Group Properties
dialog box.

43

Chapter 4 Behavior Arranger

How to designate a library to a group box

If you save a behavior program, you can use the behavior program as a subroutine when making
another program. A group of these programs (.be) is called a (behavior) library. AIBO Master Studio
provides several libraries in the AIBO Master Studio\BA\Library folder for your use.
When you place a library box
program to be activated by the library box.

A group box will be placed in the edit window (a library box is a kind of group box). When you right­click on the box and choose Properties from the context menu, a Group properties dialog box is
displayed.

in the edit window, the Open dialog box is displayed. Specify the

1Name

Input the box name.
(The library name
appears initially.)

Group

The chosen
library is
displayed.

Note

If actions other than system actions (i.e. actions made with Action Composer) are used in the behavior
library, you need to save an action library that include the actions to a “Memory Stick” in advance using
Action Composer.

2 Comment

Type in your
comments about the
box (optional).

Cancel

Cancels an
operation.

3 OK

Closes the dialog box.

44

Chapter 4 Behavior Arranger

Terminal box

When you place a terminal box in the edit window or double-click a terminal box, the Terminal
properties dialog box is displayed. Enter the terminal box name and comments in this box.

1 Name

Input the box name.

2 Comment

Type in your
comments about the
box (optional).

3 OK

Closes the
dialog box.

At the end of subroutine, input a box name such as RETURN to indicate that the process will return to
the main program. Terminal box names can be entered freely, for example, QUIT, END and RETURN.

Cancel

Cancels a new box or
an operation in the
Terminal Properties
dialog box.

45

Chapter 4 Behavior Arranger

Using Groups

Making a group

Follow the procedure below to make a group
(subroutine) that will be activated by a group
box.

When You Create Subroutines

1 From the menu, select Group-

Create New Group.

A Group dialog box appears.

2 Define the group.

1 Name

Input the group name.

2 Comment

Type in your
comments about
the group
(optional).

3 Close the dialog box.

Click OK in the Group dialog box.
An edit window opens for the new group.

5 From the menu, select File -

Close this Window.

It returns to the edit window of the
program that activates the created group
(subroutine).

Note

Even if you close the edit window for a group,
the group isn’t deleted.

6 Place a group box, and

designate a group name used in
the Group combo box of the
Group properties dialog box.

Select a group name that you’ve
made as the group to activate.

For details, see “Group Box” (page 43).

4 Create a behavior program (in

the same manner as for a main
group).

46

When You Create a group
(Subroutine) from a Group Box

1 Position the group box in the

edit window, and input the
name of the group in the Group
properties dialog box.

Input the group name
to be created.

Chapter 4 Behavior Arranger

A group will be created and an edit
window for the group opens.
The group box to activate the created
group will be placed in the original edit
window.

2 Create a behavior program (in

the same manner as for a main
group).

3 From the menu, select File-Close

this Window.

Tip

Even if you close the edit window for a group,
the group isn’t deleted.

47

Chapter 4 Behavior Arranger

Moving from group to group

If a group includes a child group (subroutine),
you can move it from one group to another by
using the history bar, and see a history of moves
between groups.

History bar

You can move a group box that you want to edit
to a child group (subroutine) by double-clicking
it, and the program will appear in the edit
window. Such moves between groups will
appear in the history bar. The main group
always appears on top, and the history will be
updated as you create child groups
(subroutines).
Groups displayed in the history bar can be
accessed by clicking on one of the boxes
displayed in the bar.

Key operation

Home Moves to the Main group.
End Moves to the group indicated

at the bottom of the history
bar.

Page Up Moves to the group directly

above in the history bar.

Page Down Moves to the group directly

below in the history bar.

Mouse operation

Left double-click Opens the chosen group in

the edit window.

Place the mouse
pointer over a box
in the history bar

Displays the group name.

Note

When you access a different subgroup from the same
group, a different trace is displayed in the history bar.

48

Rearranging terminals

Chapter 4 Behavior Arranger

If a group that has several output terminal
boxes is activated from a group box, you can
rearrange the terminals to keep the connection
lines from crossing.

1 In the group box, place the

mouse pointer over the
terminals to check the names of
the terminals you want to
rearrange.

Terminal 1 Terminal 2 Terminal 3

Crossed

4 Choose a line and click [Up]

[Down] to change the terminal
order.

In the case of a Step 1 screen, change the
order to [1] [3] [2].

5 When you’ve rearranged the

order, click Set order.

When you return to the group box, you’ll
find the terminals arranged in the new
order and the crossed lines will have
disappeared.

Terminal 1 Terminal 3 Terminal 2

2 Double-click the group box.

The program defined by the group box is
displayed.

3 Choose Group - Set Order of

Terminals.

The Terminal list is displayed.

Crossing is eliminated

49

Chapter 4 Behavior Arranger

How to Use Created Actions

To include actions other than system actions – i.e. actions using original motions, sounds, and LED
flashing patterns – in a behavior program, follow the procedure below.

1 In Action Composer, create an

action library that includes the
action you want to use and save
it to the “Memory Stick” (page

81).

A copy of the action library is also made
in the hard disk, allowing you to refer to
the action library from Behavior Arranger.

Note

Behavior Arranger refers to the action library
saved last. If you are using several “Memory
Sticks,” make sure the action library in the
“Memory Stick” you are using matches the one
on the hard disk.

2 In Behavior Arranger, specify

the action that you have created
as a command in an Action box.

Specify [PLAY] for Main and [ACTION+]
for Sub. Actions in the library that you
saved in step 1 will appear in the Name
combo box.

Select ACTION+

List of actions saved in
Action Composer

Tips

You will be able to use the saved actions after
saving an action library to the “Memory Stick”
in Action Composer by opening the Action
properties dialog box.

50

Notes

You can use only one action library at a time.
To use a new action while making a behavior
program, first add the action to the action
library you’ve saved.

Chapter 4 Behavior Arranger

Printing Behaviors

You can print a flowchart of behavior programs that you have created. Please set up the page before
printing.

Page Setup

1 From the menu, select File - Page

Setup.

The Page Setup dialog box appears.

Tip

You can change the printer you want to use by
clicking Printer.

2 Set Paper, Orientation, and

Margins.

3 Click OK.

Print

1 From the menu, select File -

Print.

The Print dialog box appears.

2 Set the Print, Print range, and

Number of copies to be printed.

Tip

When the main group of a behavior program
has a child group (subroutine), you can print
flowcharts of the main group and child groups
by choosing All groups.

3 Click OK.

A flowchart of the behavior program that
is displayed in the edit window will be
printed.

51

Chapter 4 Behavior Arranger

Command Reference

You can refer to Behavior Arranger commands in this manual as well as the Help system. Click the
Start button in Windows, choose Programs -AIBO Master Studio- Command Reference, or select the
Help menu from within Behavior Arranger, then Command Reference.

Action box commands

Action playback commands
(Play-Action)

This section shows a list of names for built-in
system actions (commands are listed
alphabetically). These commands can be used
when “Play” is chosen in Main and “Action” is
chosen in Sub.
For overwrite execution, see “Programming
precautions” (page 55).

Tips

Main [Play] - Sub [Action+] displays actions that were
saved in Action Composer.

CHGPOS.STATR.NORMAL

Hangs head sorrowfully and lies down on the floor.

CHGPOS.WALK.NORMAL

Changes to walking position.

CONTACT.FRONT.HEAD

Heads the ball

CONTACT.FRONT.HEADL

Heads the ball to the left.

CONTACT.FRONT.HEADR

Heads the ball to the right.

CONTACT.RIGHT.TOUCH

Sits and with the right paw touches an object at the
specified distance.

Horizontal angle 0 to 80 Unit: °
Distance Distance from AIBO Unit: mm

52

Overwrite

execution

NG

NG

NG

NG

NG

NG

Overwrite

execution

CONTACT.RIGHT.TOUCH2

Crouches and with the right paw touches an object
at the specified distance.

Horizontal angle 0 to 80 Unit: °
Distance Distance from AIBO Unit: mm

KICK

Kicks the specified position.

Horizontal angle –30 to 30 Unit: °
Distance Distance from AIBO Unit: mm

LIE

Lies down in the normal posture.

MOVE_HEAD

Looks in the specified direction.
Alias for MOVE.HEAD.NORMAL.

Horizontal angle –60 to 60 Unit: °
Vertical angle –60 to 20 Unit: °

MOVE.HEAD.FAST

Looks quickly in the specified direction.

Horizontal angle –60 to 60 Unit: °
Vertical angle –60 to 20 Unit: °

MOVE.HEAD.NORMAL

Looks in the specified direction.

Horizontal angle –60 to 60 Unit: °
Vertical angle –60 to 20 Unit: °

MOVE.HEAD.SLOW

Looks slowly in the specified direction.

Horizontal angle –60 to 60 Unit: °
Vertical angle –60 to 20 Unit: °

NG

NG

NG

OK

OK

OK

OK

Chapter 4 Behavior Arranger

Overwrite

execution

MOVE.MOVE.NORMAL

Walks to the designated position.

Horizontal angle –180 to 180 Unit: °
Distance 0 to 10,000 Unit: mm

MOVE.MOVE.SLOW

Walks slowly to the specified position.

Horizontal angle –180 to 180 Unit: °
Distance 0 to 10,000 Unit: mm

MOVE.MOVE.SMALL

Walks taking small steps to the specified position.

Horizontal angle –180 to 180 Unit: °
Distance 0 to 10,000 Unit: mm

MOVE.TURN.NORMAL

Turns around to face the specified direction.
Horizontal angle –180 to 180 Unit: °

(+: counter-clockwise,
–: clockwise)

MOVE.TURN.SLOW

Turns around slowly to face the specified direction.
Horizontal angle –180 to 180 Unit: °

(+: counter-clockwise,
–: clockwise)

PALONE.AUTO.EAR (ERS-210 only)

Moves both ears.

PALONE.AUTO.EARL (ERS-210 only)

Moves the left ear.

OK

OK

OK

OK

OK

OK

OK

Overwrite

execution

PALONE.AUTO.TAILH (ERS-210 only)

Wags tail left to right.

PALONE.AUTO.TAILROT (ERS-210 only)

Rotates tail.

PALONE.AUTO.TAILSTOP (ERS-210 only)

Stops moving tail.

PALONE.AUTO.TAILUP (ERS-210 only)

Raises tail.

PALONE.AUTO.TAILV (ERS-210 only)

Wags tail up and down.

SEARCH

Searches for an object starting from the current
direction.
Alias for SEARCH.HEAD.NORMAL.
Object Pink ball (included in AIBO unit)

SEARCH.HEAD.LOWCENT

Looks down and searches for an object.
Object Pink Ball (included in AIBO unit)

SEARCH.HEAD.NORMAL

Looks in the current direction to search for an object.
Object Pink Ball (included in AIBO unit)

SEARCH.HEAD.NORMALCENT

Looks in front and searches for an object.
Object Pink Ball (included in AIBO unit)

OK

OK

OK

OK

OK

OK

OK

OK

OK

PALONE.AUTO.EARR (ERS-210 only)

Moves the right ear.

PALONE.AUTO.EARSTOP (ERS-210 only)

Stops moving ears.

PALONE.AUTO.TAILD (ERS-210 only)

Lowers tail.

OK

OK

OK

SEARCH.HEAD.SLOW

Looks in the current direction to search slowly for an
object.
Object Pink Ball (included in AIBO unit)

SEARCH.HEAD.SLOWCENT

Looks in front and searches slowly for an object.
Object Pink Ball (included in AIBO unit)

OK

OK

53

Chapter 4 Behavior Arranger

Overwrite

execution

SIT

Sits.

SMESS.ERROR.ERROR1

Error notice 1 for debugging.
ERS-210: Flashes the mode indicator, the left eye

lights (three) and the tail light.

ERS-220: Turns on both the right and left face

side lights in blue, and the mode
indicator.

ERS-310 series:

Quickly flashes the horn light
alternately in blue/orange, and turns
on the mode indicator.

SMESS.ERROR.ERROR2

Error notice 2 for debugging.
ERS-210: Flashes the mode indicator, the right

eye lights (three) and the tail light.

ERS-220: Flashes both the right and left face side

lights in blue, and the mode indicator.

ERS-310 series:

Slowly flashes the horn light alternately
in blue/orange, and turns on the mode
indicator.

SMESS.NOTICE.NOTICE1

Notice 1 for debugging.
ERS-210: Turn on the mode indicator, the eye

lights (all), and the tail light.

ERS-220: Flashes the left face side light in blue.
ERS-310 series:

Slowly flashes the horn light in orange,
and turns on the mode indicator.

NG

OK

OK

OK

Overwrite

execution

SMESS.NOTICE.NOTICE2

Notice 2 for debugging.
ERS-210: Turn on the mode indicator, the eye

lights (all), and the tail light.

ERS-220: Flashes the right face side light in blue.
ERS-310 series:

Slowly flashes the horn light in orange,
and turns on the mode indicator.

SMESS.MODE.CLEAR

Clears debugging display.

STAND

Stands.

STOP_WALK

Stops walking.

TOUCH

Sits down and touches an object at the specified
position with right front leg.
Alias for CONTACT.RIGHT.TOUCH.

Horizontal angle 0 to 80 Unit: °
Distance Distance from AIBO Unit: mm

TRACK_HEAD

Tracks the object in sight. (AIBO won’t look for it if it
loses it.)
Object Pink Ball (included in AIBO unit)

TURN

Alias for MOVE.TURN.NORMAL.
Horizontal angle –180 to 180 Unit: °

(+: counter-clockwise,
–: clockwise)

OK

OK

NG

NG

NG

OK

OK

54

WALK

Alias for MOVE.MOVE.NORMAL.

Horizontal angle –180 to 180 Unit: °
Distance 0 to 10,000 Unit: mm

OK

Chapter 4 Behavior Arranger

Programming precautions

• Command Completion

Since action commands (PLAY) such as
“walk” and “shake head left and right” take
time from execution to completion of the
action, AIBO returns a completion notice
when the action is completed. If you create a
program that executes action commands after
a completion notice is received, Individual
actions can be steadily executed in sequence.

• Overwriting command execution

AIBO can execute several commands at the
same time, such as “while walking, flash LED
and play sound.” However, simultaneous
execution of several commands is possible
only if resources that the commands use
(such as body parts, LEDs, and sounds) don’t
overlap. For example, if you designate a
command to turn off a LED after a command
to turn on the same LED, only the last
command will be executed and the LED will
be turned off. If you designate a command to
raise the right leg and a command to lower
the same leg before the first action completes,
AIBO will lower the right leg in the middle of
raising it. Such overlaps are called
overwriting command execution.
Overwriting command execution doesn’t
apply to all action commands, so see
explanation of each individual command to
see if overwriting execution is possible.

Commands that use variables

The commands in this section execute
arithmetic operations using variables.

Restrictions on variables

Observe the following restrictions when using
variables.

• Variable names cannot be longer than 32

characters.

• Use only alphanumeric characters and

underscores in variable names.

• A variable name consisting only of capital

letters cannot be used.

• A value must be a 16-bit integer, between

–32,768 and +32,767.

SET

Assigns a value to the variable.

CLR

Clears a sensor variable.

ADD

Addition
[Variable*] = [Variable*] + [Var/Value*]

SUB

Subtraction
[Variable*] = [Variable*] – [Var/Value*]

MUL

Multiplication
[Variable*] = [Variable*] × [Var/Value*]

DIV

Division
[Variable*] = [Variable*] ÷ [Var/Value*]

MOD

Remainder
[Variable*] = [Variable*] % [Var/Value*]

55

Chapter 4 Behavior Arranger

IOR

Logical OR (logical OR per bit)
[Variable*] | [Var/Value*]

XOR

Exclusive OR (exclusive OR per bit)
[Variable*] ^ [Val/Value*]

RND

Random number
Generates a random number from a specified range
of [From#] to [To#].
Variable* The random number generated
From#/To# Range of the random number

VSAVE

Saves the value of a variable.Saves the value of a
variable in a file in a “Memory Stick.”
The name of the file to be saved is
\OPEN-R\APP\PC\AMS\<variable name>.SAV.

Note

Up to 8-character variable names can be saved
due to file system restrictions.

Other commands

STOP

Stops AIBO.
If an action is being played back, AIBO is stopped
after the action is completed.

QUIT

Stops AIBO immediately .
AIBO is stopped even in mid-action.

WAIT

Waits for the current action to end and confirms
completion before executing the command that
follows the WAIT command.

VLOAD

Loads the value of a variable from a file in a
“Memory Stick.”
The name of the file to be loaded is
\OPEN-R\APP\PC\AMS\<variable name>.SAV.

Note

Up to 8-character variable names can be saved
due to file system restrictions.

VDUMP

Displays the variable (when executing with a
wireless LAN).

56

Chapter 4 Behavior Arranger

Variables

The following variables can be used in action boxes and branch boxes in addition to user variables.

Common to all models

Using the AIBO internal clock

Year

Year Effective range: 2000 or later

Month

Month

Day

Day

Hour

Hour (24-hour system)

Min

Minutes

Sec

Seconds (resolution: 2 seconds)

Dow

Day of the week (Sunday = 0, Monday = 1, ....,

Saturday = 6)

Other variables

Status

Detects if it has fallen or is in normal state. When
AIBO falls down, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”
(When AIBO falls down, it gets up automatically
and the program is executed again from the
beginning.)

Wait

The length of time set for the Wait command
Unit: ms

Brightness

Brightness of the surroundings (0 - 255)
Darker with smaller numbers, brighter with larger
numbers.

Pink_Ball

When the pink ball is detected, the variable is set to
“1.”
To clear the variable, use the SET command to enter
“0.”

Pink_Ball_H

Horizontal angle of the pink ball Unit: °

Pink_Ball_V

Vertical angle of the pink ball Unit: °

Pink_Ball_D

Distance to the pink ball Unit: mm

57

Chapter 4 Behavior Arranger

AU_AiboSound

Used for AIBO-ware with media link mode
capability.
When an AIBO sound such as a media link sound is
detected, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

AU_AiboSound_ID

Tone ID of an AIBO sound such as a media link
sound. (See “Media link sound that can be used for
sound recognition” <page 60>.)

AU_AiboTone

When a command tonal scale used for AIBO ERS­110/111 is detected, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

AU_AiboTone_ID

Tonal scale ID used for AIBO ERS-110/111.
(See “Tonal scales that can be used for sound
recognition” <page 62>.)

Body_Temp

AIBO Temperature Unit: °C

Distance

Distance from the obstacle sensor to an obstacle.
If there are no obstacles, “900” will return.
Effective range: 0 - 600 Unit: mm

AU_Voice

When a word is detected using voice recognition,
the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

AU_Voice_ID

ID of a word detected using voice recognition.
(See “Words that can be used for voice recognition”
<page 59>.)

Batt_Rest

Remaining AIBO battery power Unit: %

Batt_Temp

AIBO battery temperature Unit: °C

58

Chapter 4 Behavior Arranger

Words that can be used for voice
recognition

The following voice recognition terms can be
used as AU_Voice_ID variables. What action
AIBO should take in response to a word input
can be freely determined.

ID When to use (example)

1 AIBO Talk to AIBO
2 What’s your name?

Ask its name (Use an
action with a WAV file in
which the name is
recorded).

3 Say hello Ask to say hello
4 Shake paw Ask to shake a paw
5 Morning Morning greeting
6 Hello Daytime greeting
7 Good night Night greeting
8 See you Part with AIBO
9 How are you? Ask how AIBO is doing
10 Hey AIBO Talk to AIBO
11 Thanks Express gratitude
12 Sorry Apologize
13 Cheer up Cheer up
14 Banzai Play together
15 That’s right Tell AIBO something is

right

16 That’s wrong Tell AIBO something is

wrong

17 Good AIBO Praise
18 Stop it Scold
19 Let’s play! Ask AIBO to play.
20 Sing a song Make AIBO sing a song.
21 Dance Ask AIBO to dance

22 Show time Ask AIBO to perform
23 Pose for me Ask for a special pause
24 Clown around Ask AIBO to do

something silly

25 Show off Ask AIBO to do

something it is good at

26 Say message Make AIBO say

something

27 Let’s be secret Tell a secret story
28 Open sesame Break a spell with a magic

word

29 Happy day Tell a funny thing
30 Stand up Make AIBO stand up
31 Lie down Make AIBO lie down
32 Sit down Make AIBO sit down
33 Turn right Make AIBO turn or move

right

34 Turn left Make AIBO turn or move

left

35 Go forward Make AIBO go forward
36 Go backward Make AIBO back off
37 Go ahead Make AIBO start doing

something

38 Stop Make AIBO stop doing

something

39 Faster Make AIBO do something

faster

40 Slow down Make AIBO do something

slower

41 Pink ball Make AIBO respond to

the pink ball

42 Right leg kick Make AIBO kick the pink

ball with its right hind leg

43

Right leg touch

Make AIBO touch the
pink ball with its right
foreleg

59

Chapter 4 Behavior Arranger

44 Left leg kick Make AIBO kick the pink

ball with its left hind leg

45 Left leg touch Make AIBO touch the

pink ball with its left
foreleg

46 Ready set go Make AIBO start

competing

47 You won Tell AIBO that it won
48 You lost Tell AIBO that it lost
49 Action one Free use
50 Action two Free use
51 Action three Free use
52 Action four Free use
53 Action five Free use

Media link sounds that can be used
for sound recognition

AIBO-ware “AIBO Pal (ERF-310AW07E)” for
AIBO ERS-310 series is equipped with a “Media
link mode” that enables AIBO to communicate
with media by responding to specific sound
signals from media such as television and
video. AIBO Master Studio version 1.1 can
create programs to detect such media link
sounds.
The following media link sound can be used for
variable AU_AiboSound_ID. (There are sound
files in the installed Sample\AiboSound folder.)
Media link sounds include explanations of how
AIBO ERS-310 series with AIBO Pal installed
will react, but the actions AIBO should take in
response to media link sounds can be freely
determined.

Note

For details of media link mode, see the operating
manual attach to the individual product.

60

Chapter 4 Behavior Arranger

ID File name Reaction of AIBO ERS-

310 series with AIBO Pal
(ERF-310AW07E)
installed

1 AS_Start_AC If you have two AIBO

ERS-310 series units with
AIBO Pal installed, and
they hear this melody,
they will begin
communication between
each other. (Same as
letting AIBO recognize
the word “Talk to your
friend.”)

2 AS02_Start_ML1
3 AS03_Start_ML2
4 AS04_Start_ML3
5 AS05_End_ML Ends media link mode,

6 AS06_Hello Raises a front paw in

7 AS07_Bye Waves a front paw to say

8 AS08_Sleep Lies on its stomach and

9 AS09_Nod_Short Gives a short nod.

Starts media link mode.
(Same as letting it
recognize the phrases
“Media link mode.”)

and returns to
autonomous mode. (Same
as letting AIBO recognize
the word “That’s it.”)

greeting.

goodbye.

pretends to sleep.

18 AS18_Surprise Pose of surprise.
19 AS19_Sad Pose of sadness.
20 AS20_Relief Pose of relieved look.
21 AS21_Appeal Requests and desires.
22 AS22_Action Performs various

characteristic actions.

23 AS23_Dance Dances.
24 AS24_Song1 Sings.
25 AS25_Song2
26 AS26_Fav_Dance Performs favorite dance.
27 AS27_Fear Pose of fear.
28 AS28_Greet Bows.
29 AS29_Pose Poses for photo

opportunity.

30 AS30_Cheer Raises both front paws.
31 AS31_Look Pose of caution.
32 AS32_Abash Pose of shyness.
33 AS33_Charm Acts charmingly.
34 AS34_Type_Check

Tells you its characteristic
type. (Same as letting
AIBO recognize the word
“Do you feel okay?”)

35 AS35_Call Notices incoming call.

10 AS10_Nod_Long Gives a long nod.
11 AS11_Expect Shows great expectation.
12 AS12_Yes Responds positively.
13 AS13_No Responds negatively.
14 AS14_Question Responds questioningly.
15 AS15_Joy Pose of joy.
16 AS16_Happy Pose of great joy.
17 AS17_Disgust Pose of reluctance.

61

Chapter 4 Behavior Arranger

Tonal scales that can be used for sound recognition

Using AIBO’s perfect pitch, you can utilize tonal scales as AIBO ERS110/111 commands. AIBO Master
Studio version 1.1 can create programs to detect such tonal scales.
The following tonal scales can be used for the variable AU_AiboTone_ID. (Use sounds in the installed
Sample\AiboTone folder and AIBO ERS-110/111 sound commander for input.) What action AIBO
should take in response to tonal scales can be freely determined.

*ID 1 – 34 are command type A, and 35 – 68 are command type B.

ID Tonal Sound ID Tonal Sound Button in the sound Settings of AIBO

Scale file Scale file controller that comes ERS-110/111

with AIBO ERS-110/111*

Command Short scale Meaning of tonal scale
number method
method

1 C5 D5 E5 AT01.mid 35 C6 D6 E6 AT35.mid 00tSEND CDE Set AIBO to the

2 C5 E5 D5 AT02.mid 36 C6 E6 D6 AT36.mid 01tSEND CED Set AIBO to the game

3 E5 C5 D5 AT03.mid 37 E6 C6 D6 AT37.mid 02tSEND ECD Set AIBO to the

4 E5 D5 C5 AT04.mid 38 E6 D6 C6 AT38.mid 03tSEND EDC Set AIBO to the

5 G5 C5 D5 AT05.mid 39 G6 C6 D6 AT39.mid 81tSEND GCD Set AIBO to the

6 G5 D5 C5 AT06.mid 40 G6 D6 C6 AT40.mid 83tSEND GDC Set AIBO to the

7 C5 G5 D5 AT07.mid 41 C6 G6 D5 AT41.mid 84tSEND CGD Lower the volume one

8 C5 D5 G5 AT08.mid 42 C6 D6 G6 AT42.mid 86tSEND CDG
9 D5 E5 C5 AT09.mid 43 D6 E6 C6 AT43.mid 88tSEND DEC Set AIBO to the sleep8

10 D5 C5 E5 AT10.mid 44 D6 C6 E6 AT44.mid 89tSEND DCE

autonomous mode

mode

performance mode

“charging posture”

command type A

command type B

level
Raise the volume one level

mode
Set AIBO to the sleep mode

Action

mode

Motion
modes
in
general

62

Chapter 4 Behavior Arranger

*ID 1 – 34 are command type A, and 35 – 68 are command type B.

ID Tonal Sound ID Tonal Sound Button in the sound Settings of AIBO

Scale file Scale file controller that comes ERS-110/111

with AIBO ERS-110/111*

Command Short scale Meaning of tonal scale
number method
method

11 C5 Eb5 G5 AT11.mid 45 C6 Eb6 G6 AT45.mid 11tSEND

12 C5 G5 Eb5 AT12.mid 46 C6 G6 Eb6 AT46.mid 12tSEND

13 G5 Eb5 C5 AT13.mid 47 G6 Eb6 C6 AT47.mid 13tSEND

14 C5 E5 F5 AT14.mid 48 C6 E6 F6 AT48.mid 31tSEND CEF Show Style 1

15 C5 F5 E5 AT15.mid 49 C6 F6 E6 AT49.mid 32tSEND CFE Show Style 2

16 F5 C5 E5 AT16.mid 50 F6 C6 E6 AT50.mid 33tSEND FCE Show Style 3

17 F5 E5 C5 AT17.mid 51 F6 E6 C6 AT51.mid 34tSEND FEC Show Style 4

18 C5 F5 G5 AT18.mid 52 C6 F65 G6 AT52.mid 41tSEND CFG Show Performance 1

19 C5 G5 F5 AT19.mid 53 C6 G6 F6 AT53.mid 42tSEND CGF Show Performance 2

20 G5 C5 F5 AT20.mid 54 G6 C6 F6 AT54.mid 43tSEND GCF Show Performance 3

21 G5 F5 C5 AT21.mid 55 G6 F6 C6 AT55.mid 44tSEND GFC Show Performance 4

22 F5 C5 G5 AT22.mid 56 F6 C6 G6 AT56.mid 45tSEND FCG Show Performance 5

23 C5 D5 F5 AT23.mid 57 C6 D6 F6 AT57.mid 52tSEND CDF Move forward

24 Eb5 C5 F5 AT24.mid 58 Eb6 C6 F6 AT58.mid 55tSEND

25 C5 F5 D5 AT25.mid 59 C6 F6 D6 AT59.mid 58tSEND CFD Move backward

26 D5 F5 C5 AT26.mid 60 D6 F6 C6 AT60.mid 51tSEND DFC Kick with the left foot

27 D5 C5 F5 AT27.mid 61 D6 C6 F6 AT61.mid 53tSEND DCF Kick with the right foot

28 F5 D5 C5 AT28.mid 62 F6 D6 C6 AT62.mid 54tSEND FDC Turn to the left

29 F5 C5 D5 AT29.mid 63 F6 C6 D6 AT63.mid 56tSEND FCD Turn to the right

30 Eb5 F5 C5 AT30.mid 64 Eb6 F6 C6 AT64.mid 50tSEND

31 C5 Eb5 F5 AT31.mid 65 C6 Eb6 F6 AT65.mid 5#tSEND

32 C5 F5 Eb5 AT32.mid 66 C6 F6 Eb6 AT66.mid 5*tSEND

33 F5 C5 Eb5 AT33.mid 67 F6 C6 Eb6 AT67.mid 57tSEND

34 F5 Eb5 C5 AT34.mid 68 F6 Eb6 C AT68.mid 59tSEND

CD#G
CGD#
GD#C

D#CF

D#FC

CD#F
CFD#
FCD#
FD#C

Stand up
Sit down
Lay down

Stop

Turn the ball tracking
function on/off

Pose of triumph
Pose of vexation
Pick up an object
Release an object

Action

mode

Perfor­mance
mode

Game
mode

63

Chapter 4 Behavior Arranger

For AIBO ERS-210/220

Using AIBO touch sensors

Head_ON

ERS-210: When the head sensor is pressed, the

variable is set to “1.”

ERS-220: When the head sensor is pushed down,

the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Head_OFF

ERS-210: The length of time the head sensor is

pressed.
ERS-220: The length of time the head sensor is

pushed down.
Effective range: 0 to 10,000 Unit: ms

Head_Pat

ERS-210: When the head sensor is patted twice

back and forth, the variable is set to “1.”
ERS-220: When the head sensor is pushed to the

back, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Head_Hit

ERS-210: When the head sensor is strongly

pressed for a short time, the variable is

set to “1.”
ERS-220: When the head sensor is pushed to the

front, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Head_LONG

ERS-210: When the head sensor is pressed for 3

seconds or longer, the variable is set to
“1.”

ERS-220: When the head sensor is pushed down

for 3 seconds or longer, the variable is

set to “1.”
To clear the variable, use the SET command to enter
“0.”

Back_ON

When the back sensor is pressed, the variable is set
to “1.”
To clear the variable, use the SET command to enter
“0.”

Back_OFF

The length of time the back sensor is pressed.
Effective range: 0 to 10,000 Unit: ms

Back_LONG

When the back sensor is pressed for 3 seconds or
longer, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Jaw_ON

When the chin/face sensor is pressed, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

Jaw_OFF

The length of time the chin/face sensor was pressed.
Effective range: 0 to 10,000 Unit: ms

64

JAW_LONG

When the chin/face sensor is pressed for 3 seconds
or longer, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Chapter 4 Behavior Arranger

RFLeg_ON

When the paw sensor on the front right leg is
pressed, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

RFLeg_OFF

The length of time the paw sensor on the front right
leg is pressed.
Effective range: 0 to 10,000 Unit: ms

LFLeg_ON

When the paw sensor on the front left leg is pressed,
the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

LFLeg_OFF

The length of time the paw sensor on the front left
leg was pressed.
Effective range: 0 to 10,000 Unit: ms

RRLeg_ON

When the paw sensor on the hind right leg is
pressed, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

RRLeg_OFF

The length of time the paw sensor on the hind right
leg was pressed.
Effective range: 0 to 10,000 Unit: ms

LRLeg_ON

When the paw sensor on the hind left leg is pressed,
the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

LRLeg_OFF

The length of time the paw sensor on the hind left
leg was pressed.
Effective range: 0 to 10,000 Unit: ms

RTail_ON (ERS-220 only)

When the tail sensor (light) is pressed, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

RTail_OFF (ERS-220 only)

The length of time the tail sensor (light) is pressed.
Effective range: 0 to 10,000 Unit: ms

RTail_LONG (ERS-220 only)

When the tail sensor (light) is pressed for 3 seconds
or longer, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

CTail_ON (ERS-220 only)

When the tail sensor (center) is pressed, the variable
is set to “1.”
To clear the variable, use the SET command to enter
“0.”

CTail_OFF (ERS-220 only)

The length of time the tail sensor (center) was
pressed.
Effective range: 0 to 10,000 Unit: ms

CTail_LONG (ERS-220 only)

When the tail sensor (center) is pressed for 3 seconds
or longer, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

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Chapter 4 Behavior Arranger

LTail_ON (ERS-220 only)

When the tail sensor (left) is pressed, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

LTail_OFF (ERS-220 only)

The length of time the tail sensor (left) was pressed.
Effective range: 0 to 10,000 Unit: ms

LTail_LONG (ERS-220 only)

When the tail sensor (left) is pressed for 3 seconds or
longer, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Using AIBO joint angles

Head_Tilt

Head: angle of vertical (up and down) direction
Unit: °

RFLeg_3

Second joint of front right leg (elbow): angle of front
and back direction Unit: °

LFLeg_1

First joint of front left leg (shoulder): angle of front
and back direction Unit: °

LFLeg_2

First joint of front left leg (shoulder): angle of right
and left direction Unit: °

LFLeg_3

Second joint of front left leg (elbow): angle of front
and back direction Unit: °

RRLeg_1

First joint of hind right leg (hip): angle of front and
back direction Unit: °

RRLeg_2

First joint of hind right leg (hip): angle of right and
left direction Unit: °

Head_Pan

Head: angle of horizontal (right and left) direction
Unit: °

Head_Roll

Head: rolling angle Unit: °

Mouth (ERS-210 only)

Mouth: opening angle Unit: °

RFLeg_1

First joint of front right leg (shoulder): angle of front
and back direction Unit: °

RFLeg_2

First joint of front right leg (shoulder): angle of right
and left direction Unit: °

66

RRLeg_3

Second joint of hind right leg (knee): angle of front
and back direction Unit: °

LRLeg_1

First joint of hind left leg (hip): angle of front and
back direction Unit: °

LRLeg_2

First joint of hind left leg (hip): angle of right and left
direction Unit: °

LRLeg_3

Second joint of hind left leg (knee): angle of front
and back direction Unit: °

Chapter 4 Behavior Arranger

Tail_Tilt (ERS-210 only)

Tail: angle of vertical (up and down)

direction Unit: °

Tail_Pan (ERS-210 only)

Tail: angle of horizontal (right and left)

direction Unit: °

For AIBO ERS-310 series

Using AIBO touch sensors

Head_ON

When the head is pressed, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Head_OFF

The length of time the head was pressed.
Effective range: 0 to 10,000 Unit: ms

Head_Pat

If the head is pressed to face downward, the variable
is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Head_Hit

If the head is pressed to face upward, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_Roll3

If the tail is rolled three times (in either direction),
the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_RollR

If the tail is rolled once to the right, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

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Chapter 4 Behavior Arranger

Tail_RollL

If the tail is rolled once to the left, the variable is set
to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_U_LONG

If the tail is pushed toward the front for three
seconds, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_D_LONG

If the tail is pushed toward the back for three
seconds, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_R_LONG

If the tail is pushed toward the right for three
seconds, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_D_ON

If the tail is pushed toward the back, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_R_ON

If the tail is pushed toward the right, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_L_ON

If the tail is pushed toward the left, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

RFLeg_ON

When the paw switch on the front right leg is
pressed, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_L_LONG

If the tail is pushed toward the left for three seconds,
the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

Tail_U_ON

If the tail is pushed toward the front, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”

68

RFLeg_OFF

The length of time the paw switch on the front right
leg was pressed.
Effective range: 0 to 10,000 Unit: ms

LFLeg_ON

When the paw switch on the front left leg is pressed,
the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

LFLeg_OFF

The length of time the paw switch on the front left
leg was pressed.
Effective range: 0 to 10,000 Unit: ms

Chapter 4 Behavior Arranger

RRLeg_ON

When the paw switch on the hind right leg is
pressed, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

RRLeg_OFF

The length of time the paw switch on the hind right
leg was pressed.
Effective range: 0 to 10,000 Unit: ms

LRLeg_ON

When the paw switch on the hind left leg is pressed,
the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”

LRLeg_OFF

The length of time the paw switch on the hind left
leg was pressed.
Effective range: 0 to 10,000 Unit: ms

RFLeg_2

First joint of front right leg (shoulder): angle of right
and left direction Unit: °

RFLeg_3

Second joint of front right leg (elbow): angle of front
and back direction Unit: °

LFLeg_1

First joint of front left leg (shoulder): angle of front
and back direction Unit: °

LFLeg_2

First joint of front left leg (shoulder): angle of right
and left direction Unit: °

LFLeg_3

Second joint of front left leg (elbow): angle of front
and back direction Unit: °

RRLeg_1

First joint of hind right leg (hip): angle of front and
back direction Unit: °

Using AIBO joint angles

Head_Tilt

Head (bottom of neck): angle of vertical (up and
down) direction Unit: °

Head_Pan

Head: angle of horizontal (right and left) direction
Unit: °

Head_Tilt2

Head (area equivalent to face): angle of vertical (up
and down) direction Unit: °

RFLeg_1

First joint of front right leg (shoulder): angle of front
and back direction Unit: °

RRLeg_2

First joint of hind right leg (hip): angle of right and
left direction Unit: °

RRLeg_3

Second joint of hind right leg (knee): angle of front
and back direction Unit: °

LRLeg_1

First joint of hind left leg (hip): angle of front and
back direction Unit: °

LRLeg_2

First joint of hind left leg (hip): angle of right and left
direction Unit: °

LRLeg_3

Second joint of hind left leg (knee): angle of front
and back direction Unit: °

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70

Chapter 5

Action Composer

Procedures for using Action Composer.

Chapter 5 Action Composer

Overview

The Action Composer application lets you modify the sample actions or create actions from scratch.
By using original actions tailored to each situation, your AIBO will become capable of unique
expressions.

The actions you create are incorporated in a behavior program with Quick Behavior Arranger or
Behavior Arranger.

What you can make with Action Composer

With Action Composer, you can make elements
that compose an action, actions themselves and
action libraries.

The three elements of an action

You can make the three elements (motion,
sound and LED flashing pattern) that combine
to form an action. Elements that are made with
Action Composer can be saved as individual
files and used to create other actions.

Motion

AIBO’s motions are relatively brief units of
movement, such as yawning and offering a
paw. A unit of movement that begins with a
start pose and finishes with an end pose is
defined as a single motion.
A motion is made by placing poses sequentially
between the start and end poses. A frame (one
frame of movement as in animation) defined
with a pose is called a “key frame.”
Gaps between key frames are automatically
interpolated, both in Action Composer and
while AIBO is operating, so that a motion plays
back smoothly.
When a motion is saved, a motion file (.mtn)
will be made. Key frames cannot be saved
individually but they can be copied and used to
create other motions.

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Chapter 5 Action Composer

Sound

AIBO can use sounds in WAVE and MIDI
formats for melodies and sound effects, and
import a file made with a commercially
available sound editor to use as a sound
element in Action Composer. Action Composer
is very convenient as you can make MIDI
sounds that are compatible with AIBO without
worrying about format restrictions. You cannot
make WAVE files in Action Composer but you
can import and edit WAVE files.
When a sound is saved, a sound file (.wav or
.mid) will be made.

LED

You can specify the flashing patterns and
brightness levels for AIBO’s body lights (LED).
When LED data is saved, an LED file (.led) will
be made.

Action

An action is a combination of elements.
You can make new actions by changing the
combination of elements or by using newly
created elements. An action does not have to be
a combination of all three elements; an action
can be made of one element only.
The file that manages this combination of
elements is called an action file (.act).

With Action Composer, you can synchronize
the timing of the three elements while you put
them together. For instance, you can make the
LED’s flashing pattern synchronize with the
motion, or adjust the sound and LED elements
to start at the same time.
You can make actions and elements up to 250
seconds long. However, if a motion longer than
30 seconds is played on an ERS-210/220, a great
load will be placed on the motor, so create
actions and elements that are less than 30
seconds long for those models.

Action library

An action library is a group of actions. All
actions used in a single behavior program are
managed by one library.
The file of an action library is called an action
library file (.alb).

When an action library is saved to the “Memory
Stick,” the library is also copied to the PC’s hard
disk and the library contents can be referred to
from Quick Behavior Arranger or Behavior
Arranger. On the “Memory Stick,” the action
library is converted to a format that AIBO can
understand, so this file cannot be edited with
Action Composer.

Note

The system actions provided in Quick Behavior
Arranger or Behavior Arranger cannot be opened or
modified with Action Composer.

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Chapter 5 Action Composer

Files that can be created in Action Composer

The five following types of files can be created in Action Composer.
Motion files (.mtn) Element file
Sound files (.wav, .mid) Element file
LED files (.led) Element file
Action files (.act) Management file of element combination
Action library files (.alb) Libraries of action files

These files are related to a program as shown in the following diagram. If you transfer individual files
directly disregarding their relations, they cannot be used.

Motion file

Action library file

Contains file information
on action files

Action file

Action file

Action file

Contains file information
on element files

Sound file

LED file

Motion file

Sound file

LED file

Substantial element
files

74

Window organization

Action Composer is made up of several windows as illustrated below.

Pose
Window

Motion

*

Viewer

Key frames in a motion are
displayed. Use this function to copy
key frames.

Open this window to edit AIBO’s

Main window

Start

poses (key frames within a motion).

MIDI
Window

Chapter 5 Action Composer

*

Elements and actions are managed in the library.

Action Window

*

In this window, you can adjust the timing of a
motion and check all elements of an action.

Preview
Window

Open this window to preview on­screen an action you’ve created.

Open this window to create MIDI
sounds for AIBO to play back. The
piano roll interface lets you visually
check the movement and length of
notes.

WAVE

*

Window

Open this window to edit WAVE

sounds for AIBO to play back.

LED

*

Window

Open this window to create AIBO

LED flashing patterns.

Notes

*

Each of these windows can also be opened by double­clicking the filename in the Main Window. You can
also open them from the Start menu.

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Chapter 5 Action Composer

Creating and Editing Files

Action library files, action files, and element files can be created in a flowing series or individually.
Files can be created by loading and editing existing files, however this section describes how to create
new files. Files that you created using previous versions of AIBO Master Studio except sound files can
be loaded as AIBO ERS-210 files. (Sound files can be commonly used with AIBO ERS-210/220/310
series).

Creating a library first

This section describes how to create action library files, action files, and element files in that order.
Create action library files according to your needs, such as compiling only actions that are necessary
for behaviors, or grouping actions for a specific AIBO model.

1 Click the Start button in

Windows and choose Programs ­AIBO Master Studio - Action
Composer.

Action Composer will start.

2 From the menu, select File-New

Library.

You can also choose Create New Library
in the navigation dialog box.
The Select Model dialog box appears.

3 Select your AIBO model.

Select your AIBO model name and click
OK.
The Create New Library dialog box
appears.

4 Create new library file

Choose where to save the file, input the
library name, and click Save.
The library file will be created, and the
name of the library file you saved will
appear as the window title.

Library display
area

Detailed information
area

76

Tip

• Choose a file name (such as a model name)
that will help you to associate the action
library with the behavior program for easy
recognition later.

• You can also select File-Properties from the
menu, and input Creator/Company/
Comment.

5 Create new action file

Either click , or from the menu, select
Action-New Action.
The Create Actions dialog box to save
action file appears.

6 Save new action file

Choose where to save the file, input action
file name, and click Save.
An action file will be created and the
action name and action file name will
appear in the detailed information area of
the Main Window.

Tip

You can also insert comments by selecting
Action-Add Comment from the menu.

7 Click to select an action file to

edit, and create a new element
file

Create element file by choosing the
Elements menu in the Main Window.

Motion file (.mtn) Click New Motion
MIDI file (.mid) Click New MIDI

Chapter 5 Action Composer

Note

You cannot create WAVE files in Action
Composer. If you want to use a WAVE file,
prepare it in advance and add it to an action file
by choosing Elements-ADD Sound from the
menu.
For WAVE file format, see “Principal files”
(page 138). You can create WAVE files using
software such as the Sound Recorder included
in Windows.

8 Open action files

While selecting an action file, either click

, or from the menu, select Action-Edit
Action.
Action Window will appear.

LED file (.led) Click New LED

When you click a menu item, a dialog box
appears for saving a file.
Choose where to save the file, input a file
name, and click Save. The file will be
created and the file name will appear in
the detailed information area of the Main
Window.

Motion
channel

Select time/
frame display

Key Frame Channel

Change
display time
of channel

LED
Channel

Time/frame
channel

Sound
Channel

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Chapter 5 Action Composer

See “Action Composer” in “Chapter 6
Reference” (page 114) for explanation of
Action Window names and functions.

9 Edit elements

Edit motions in the Action Window. Edit
sound files in the MIDI or WAVE
Window, and LED files in the LED
Window. The windows appear when you
select Elements-Edit Sound or Elements­Edit LED from the menu. For information
about editing elements, see “Editing
Elements” (page 82).

Tip

If you are using sound/LED files with data as
elements, you can open each window by
double-clicking the sound channel or LED
channel in Action Window.

10 Save each file

When you finish editing an element, save
the element file by selecting File-Save
from the menu. Save action files and
library files in the same manner.

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Chapter 5 Action Composer

Creating an action file first

If you already have element files that can be used, you can create action files. Motion files can be
created at the same time as action files.

1 Click the Start button in

Windows and choose Programs­AIBO Master Studio-Action
Composer Tool-Action Window.

The Select model dialog box appears.

2 Select your AIBO model.

Select your AIBO model name and click
OK.
The Action Window appears.

3 Add elements.

From the Elements menu, select Add
Motion, Add Sound or Add LED to add
an element.

Tip

You can also create motion files by selecting
Elements New Motion from the menu.

4 Save action file.

From the menu, select File-Save As to save
the action file.

To include action files that you have created in
an action library file, select Action-Add Action
from the Main Window menu.

Note

If you add a motion to an action file in the Action
Window, then edit the motion and save the action file,
the original motion file will also change, so be careful.
Try to use a copy of an element when editing as much
as possible.

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Chapter 5 Action Composer

Creating an element file first

If you create and add element files as you have ideas, that will be very convenient, as you will have a
wider variety to choose from when creating actions.

Motion file

1 Click the Start button in

Windows and choose Programs­AIBO Master Studio-Action
Composer Tool-Action Window.

The Select model dialog box appears.

2 Select your AIBO model.

Select your AIBO model name and click
OK.
The Action Window appears.

3 Create a motion file.

From the menu, select Elements New
Motion to create a motion file.

4 Create a motion.

5 Save the motion.

From the menu, select Element-Save
Motion As to overwrite the file created in
step 3.

Sound file

Note

You can make simple edits to a WAVE file in the
WAVE Window, but you cannot create a new file. If
you want to create a new file, use software such as the
Sound Recorder included in Windows. For formats to
save to, see “Principal files” (page 138).

1 Click the Start button in

Windows and choose Programs­AIBO Master Studio-Action
Composer Tool-MIDI Window.

The MIDI Window appears.

2 Compose a sound.

3 Save the sound.

From the menu, select File-Save As to
save.

LED file

1 Click the Start button in

Windows and choose Programs­AIBO Master Studio-Action
Composer Tool-LED Window.

The Select model dialog box appears.

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Chapter 5 Action Composer

2 Select your AIBO model.

Select your AIBO model name and click
OK.
A LED Window appears.

4 Save the LED pattern.

From the menu, select File-Save As to save
it.

3 Create a LED pattern.

Using action libraries in Behavior Program

Save action library files that you created to a “Memory Stick” by using either a “Memory Stick” drive
or by transferring them to AIBO over a wireless LAN. If you save action library files on a “Memory
Stick,” they will automatically be copied to the computer hard disk so that you can use them in
Behavior Arranger and Quick Behavior Arranger.

Note

System files for a different model cannot be saved.

When you use a “Memory Stick”
drive

1 Insert a “Memory Stick” with

the appropriate system files into
the drive.

2 While the action library you

created is displayed in the Main
Window, select File-Save Library
To Memory Stick from the
menu.

When you use a wireless LAN

1 Insert a “Memory Stick” with

the appropriate system files into
AIBO, and boot AIBO.

2 While the action library you

created is displayed in the Main
Window, select File - Upload
Library To AIBO from the menu.

Tip

Information about action library files that you created
in Action Composer will be saved in the following
files in a “Memory Stick.”

\OPEN-R\APP\PC\AMS\ACTION.CFG
\OPEN-R\MW\CONF\ERS-xxx.MWC
\OPEN-R\MW\DATA\AUDIO.ODA
\OPEN-R\MW\DATA\LED.ODA
\OPEN-R\MW\DATA\MOTION.ODA

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Chapter 5 Action Composer

Editing Elements

This section describes how to edit elements.

Tip

Please refer to the element samples (Sample.alb) and work samples (Extras.alb) in the \Sample\model name folder.

Motion file

Edit motions using the Action Window. Edit
individual poses in key frames in the Pose
Window.

Editing motions

How to create a new motion

If you create a new motion file, only the start
pose and end pose key frames will appear in the
Key Frame Channel. If you arrange numbers of
poses (key frames) between the start pose and
the end pose, intermediary poses will be
automatically filled in to create one motion.

Current Bar

Key Frame

1 Click the position in the motion

channel at which you want to
create a pose.

The Current Bar will move, and the frame
at the current position will be selected.

2 From the menu, choose Edit

Motion - Change To Key Frame.

A key frame is created.

3 Edit the pose.

If you double-click the key frame that you
created, the Pose Window appears. For
details on editing a pose, see “Editing
Poses.” (page 85)

4 Repeat steps 1 to 3 as necessary

to create key frames.

5 Review the motion

If you click Replay button , the
Preview Window will appear and the
motion will be replayed.
For names and functions in the Preview
Window, see “Action Composer” (page

114) in “Chapter 6 Reference.”

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Chapter 5 Action Composer

Editing in the motion channel

1 Select the frame you want to

edit.

To select a single key frame, click on the
key frame. To select subframes other than
key frames, move the current bar to select
a single frame at the current position. To
select sequential key frames together, click
the first key frame and then shift-click the
last key frame. Selected key frames turn
light blue, and the frames turn black.

Tip

When you select a frame, changing the zoom
rate in the time range box at the bottom-left
corner of the window will help you select more
easily.

2 From the Edit Motion menu,

choose the edit command you
want.

Undo

Cancels the last operation in the key
frame channel and returns to the
previous state.

Redo

Resume an operation canceled by using
Undo.

Cut

Cuts out the selected frame and copies it
to the clipboard.

Copy

Copies the selected frame to the
clipboard.

Overwrite

Overwrites the clipboard contents onto
the current position.

Paste

Pastes the clipboard contents onto the
current position.

Delete Frame

Deletes the selected frame. Start and end
poses cannot be deleted.

Insert Frame

Inserts a subframe in the current
position.

Change To Key Frame

Changes the selected subframe to a key
frame.
Use this function to edit a pose in a
subframe or adjust the position of a
subframe.

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Chapter 5 Action Composer

Using existing motion files

You can insert an existing motion file into a
motion you’re working on or copy key frames
from an existing motion file.

x To insert a motion

1 Select the frame where you

want to insert the motion.

2 From the menu, choose

Elements-Insert Motion and
choose the motion file.

The selected motion is inserted before the
frame.

Note

You cannot insert a motion in a starting frame.

x To use a key frame

1 Click the Start button in

Windows and choose Programs­AIBO Master Studio-Action
Composer Tool-Motion Viewer.

The Motion Viewer window appears.

3 In the Motion Viewer window,

select the frame(s) you want to
copy.

Select a key frame as in step 1 of “Editing
in the motion channel.” To select all the
frames, choose Edit-Select All from the
menu.

4 From the menu, choose Edit-

Copy.

The selected frame(s) is copied to the
clipboard.

5 Return to the Action Window

and select the frame where you
want to insert the frame(s).

6 From the Edit Motion menu,

choose Overwrite or Paste.

The copied frame(s) is pasted to the Key
frame channel.

2 Open a motion file.

From the menu, select File-Open to select
a file name. The file’s key frame will
appear.

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Chapter 5 Action Composer

Adjusting the positions of key frames

Adjust the position of a key frame to change a
movement’s timing. All key frames except for
the key frame of the start pose can be adjusted.

1 Right-click on a key frame.

The context menu appears.

2 Choose Set Interpolation Frame.

The dialog box appears.

3 Enter the number of subframes

from the preceding key frame
and click OK.

The key frame moves to the new position.

Editing Poses

Changing start and end poses

In the Key frame channel, choose the poses you
want from the start and end combo box. Start
and end poses cannot be modified.

Note

Start and end poses are assigned set poses such as
stand, sit or sleep. If you use more than one motion in
Behavior Arranger and the second motion starts with
a pose that is different from the end pose of the first
motion, the set poses make it possible for AIBO’s
built-in program to make a smooth transition from
one motion to the next.

Tip

1 frame is equivalent to 0.016 second.

To make slight adjustments to the key
frame position

Click the motion channel to select a subframe
and press the Delete or Insert key on the
keyboard. By adding or inserting subframes,
you can adjust the position of the key frame.

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Chapter 5 Action Composer

Setting up a pose

In the Action Window, double-click a key frame in the key frame channel. The Pose Window will
appear for you to define a pose.
A pose is defined by specifying the angles of AIBO’s joints for any given moment.

1 Double-click a key frame displayed in the key frame channel.

The Pose Window opens.

2 Select a body part either from the part list or the AIBO graphic, and set

the angle.

View change box

1 Select a part from

the part list

1 Select a part from

the AIBO graphic

Note

Press the T t keys on the keyboard to change the angle one degree at a time.

x To adjust the viewpoint

Choose a viewpoint from the pull-down menu of the switch view box.
Alternatively, select either of the zoom, rotate or pan buttons and drag on the 3D view to adjust
the view. Clicking the home position button resets the view to the viewpoint set up in the switch
view box (initial setting).

2 Change angles either by inputting them

into the Crnt. (current) setting box or by
using the slide bar.

Slide button

Home button
Turn button
Zoom button

3 When you’ve adjusted AIBO to the pose you want, click OK.

The Pose Window closes, and the pose in the key frame in the Action Window changes to the
new pose.

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Chapter 5 Action Composer

Precautions on motions

Take the following precautions when making a
motion.
For tips on creating motions, see the “Tutorial
Guide” advanced course section.

• If the joints move too abruptly from one key
frame to another, the graph in the motion
channel turns red. Scroll through the motion
channel to check for red lines and adjust the
motion to make red indications disappear. If
a motion with red lines is played back on
AIBO, AIBO will not be able to keep up with
the designated speed and that may cause
AIBO to malfunction. In such a case, though
such a file can be saved as a motion file, it
cannot be transferred to a “Memory Stick.”

Area where the motion
is too fast.

• Shorter motions result in better program
response.

If a motion lasting longer than 30 seconds is
played back on a model ERS-210/220, the
motors may be overloaded and AIBO may
automatically stop moving.

Do not make motions lasting longer than 30
seconds.

• If AIBO plays back a motion that changes
abruptly from the start pose, AIBO may
incorrectly interpret that it has fallen down.

• Motions where AIBO’s body parts bump into
each other, AIBO hits the floor with force, or
AIBO falls down heavily may result in AIBO
breaking down. If a similar problem occurs
when a motion is played back on AIBO, stop
AIBO’s operation and modify the motion.

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Chapter 5 Action Composer

Editing sound

AIBO uses MIDI and WAVE files for sound effects and melodies. The MIDI and WAVE files are
edited in separate windows.

Note

• There are sample media link sounds used in AIBO Pal (ERF-310AW07E) for AIBO ERS-310 series and command
sounds (tonal scales) for AIBO ERS-110/111 that you can use as elements. (Behavior Arranger can create
programs to respond to these sounds.)
Media link sounds: installed folder \Sample\AiboSound\
Tonal scales: installed folder \Sample\AiboTone\
For the each sound’s meaning, see “Media link sounds that can be used for sound recognition” (page 60) and
“Tonal scales that can be used for sound recognition” (page 62).

• You can play back sound in either edit window, but if you use the Preview Window, you can play back sound in
combination with other elements and check the synchronization. If you use a wireless LAN (AIBO ERS-210/

220), we recommend that you test sounds on AIBO. For details, see “Executing tests on AIBO” (page 97).

MIDI file

Sounds in MIDI format are created and edited in the MIDI window. In Action Composer, you can
make MIDI sounds compatible with AIBO without worrying about format restrictions.

The piano-roll interface with a vertical keyboard and a horizontal time frame lets you make and edit
sounds intuitively.

x Overview of the MIDI Window

Playback button

Plays back the sound.

Tempo box

Time box

Score channel

Scales that can

Notes list

Select the note you
want to use
(switches to input
mode).

Switches to select mode.

be played back
are highlighted.

Velocity

Indicates the
impact of a sound.

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Chapter 5 Action Composer

Setting basic items

Set the items below before you start composing
sound.

Tempo box Choose the number of beats

per minute, in quarter notes.
You can choose from 120, 160,
and 240 beats/min.*

Time box Choose a rhythm.

You can choose from 3/4 and
4/4.

* If MIDI files edited using commercially available

tools have tempos other than those above, open
such files in the MIDI Window to add the tempo to
the list.

Composing sound

Specify the note and place sound data on the
score channel.
The velocity (impact) of a sound is indicated by
the vertical line in the velocity channel. Change
the length of the line to adjust the impact of a
sound. The length of a sound data on the score
channel indicates the length of a note.

Note

AIBO reproduces only one note at a time
(monophonic). You should position sound data so
that no more than one note is reproduced at a time. If
the notes overlap, the data is converted to
monophonic sound when saved to the files.

x Making sound data

1 Select the note you want and

place the sound on the score
channel.

If you choose a note, it will change to
input mode and the mouse pointer
changes to in the score channel.
The length of the sound data corresponds
to the note chosen. The velocity is set to
maximum and the sound is reproduced.
In the input mode, sound data is inserted
each time you click the score channel.

2 Adjust the sound data as

required.

When you place the mouse pointer on an
existing sound data, the pointer changes
shape depending on the spot and
indicates the available editing function.
Drag the mouse to make changes.

Change the timing

(horizontally)

Change the scale

(vertically)

Mouse pointer

Change the

length of the note

3 Change the velocity as required.

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Chapter 5 Action Composer

x Changing sound data

1 Click .

It switches to select mode.

2 Select the sound data you want

from the score channel and
make changes.

Click the sound data you want to change.
You can drag on the score channel to
select several notes at once. To select all
sound data on the score channel, choose
Edit-Select All from the menu.
Selected sound data is indicated by being
surrounded by a black line.

To make changes to a sound data

The mouse pointer changes shape depending
on the spot and indicates the available editing
function.

Change the timing

(horizontally)

Mouse pointer

To delete sound data

Press the Delete key on the keyboard.

Change the scale

(vertically)

3 Change the velocity as required.

x Changing the velocity

You can change the velocity (impact) of a sound
by changing the length of the vertical line in the
velocity channel. Velocity for several sounds
can be changed together.
You can gradually increase or reduce the
volume easily by changing the velocity.

Drag over the velocity line

For a weaker impact For a stronger impact

New setting New setting

Velocity is set to the point where the line made
by the mouse crosses with the vertical line.

x Editing the overall sound data

1 Select the sound data you want

to edit.

Click and choose the sound data that
you want to change. You can drag on the
score channel to select several notes at
once. To select all sound data on the score
channel, choose Edit-Select All from the
menu.
Selected sound data is indicated by being
surrounded by a black line.

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Chapter 5 Action Composer

2 From the Edit menu, choose the

edit command you want.

Undo

Cancels the last operation and returns to
the previous state.

Redo

Resume an operation canceled by using
Undo.

Cut

Cuts out the selected sound data and
copies it to the clipboard.

Copy

Copies the selected sound data to the
clipboard.

Paste

Pastes the clipboard contents starting
from the current position onto the
selected scale.

Insert

Inserts the clipboard contents in the
current position for all scales.

Delete

Deletes the selected sound data.

Using existing sound files

You can use MIDI files created with
commercially available sound editors and that
are in the format described below.

Use Format0 (single-track/multi-channel)
Standard MIDI files. If you open a Format0 file
in the MIDI Window and then save it, the data
will be converted to a format compatible with
AIBO. Functions and limitations are as follows:

• Velocity is effective but volume and
expression are not supported.

• The tone cannot be changed since program
change/bank select are not supported.

• AIBO emits a single sound at a time
(monophonic). If notes overlap, the data is
converted to monophonic sound when saved
in a file.

• AIBO reproduces notes from C4 to B6 (note
numbers 60 to 95). When you specify a note
beyond this range, C4 is output. The sound
quality of notes C4 to B4 (note numbers 60 to

71) is not as good because of the limitations of
AIBO’s speakers. We recommend that you
use notes higher than C5.

• Resolution: 32 ms. (All notes are quantized at
32 ms intervals.) Do not repeat note
boundaries during this time (32ms).

• Channel/track: only 0 is valid for each.

• Do not specify a large amount of data other

than note boundaries.

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Chapter 5 Action Composer

WAVE file

You can use WAVE files that were made with
commercially available sound editors. Use the
WAVE Window to edit WAVE files.

Playback button

Plays back the sound

Wave channel

The waveform of
the sound is
displayed.

Compatible WAVE files

A WAVE file has a larger data size compared to
MIDI files. Avoid using a long WAVE file, or
including several WAVE files in a single action
library as much as possible. Doing so will affect
the amount of space available in the “Memory
Stick” for saving other actions.

x Sound format

Use WAVE files with audio formats of 8 kHz, 8­bit, monaural, PCM and that are no larger than
2 MB (250 seconds). Before opening a WAVE
file in the WAVE Window, check the format
using, for example, the Sound Recorder in
Windows.

Editing a WAVE file

1 Select the segment you want to

edit.

On the WAVE channel, click to select the
beginning of the segment then shift-click
at the end of the segment. The color of the
selected segment turns white.

Tips

If you click the playback button at this point,
you can play back the selected segment.

2 From the Edit menu, choose the

edit command you want.

Undo

Cancels the last operation and returns to
the previous state.

Redo

Resume an operation canceled by using
Undo.

Cut

Cuts out the selected sound and copies
it to the clipboard.

Copy

Copies the selected sound to the
clipboard.

Paste

Pastes the clipboard contents onto the
current position.

Insert

Inserts the clipboard contents in the
current position.

Delete

Deletes the selected sound.

Fade in

Fades in the selected sound.

Fade out

Fades out the selected sound.

Normalize

Normalizes the selected sound (i.e.
changes the gain to adjust the maximum
amplitude to 100 percent).

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Chapter 5 Action Composer

LED file

Flashing LED patterns are created and edited in the LED Window.
You can specify the duration and brightness of each LED flash.

All you need to do is select a brightness level for the LED and arrange the LED data in the LED
window. The vertical axis represents the LED and the horizontal axis represents time, so you can
specify patterns intuitively.

Playback button

Plays back the
LED data.

Score
channel

Brightness buttons

Choose from four brightness
levels for each LED.

Tips

• Lights that have several LEDs (the ERS-210 tail light and ERS-310 series horn light) can emit mixed colors.

• You can play back LED data in the LED Window, but if you use the Preview Window, you can play back LED
data in combination with other elements and check the synchronization. If you use a wireless LAN, we
recommend that you test LED data on AIBO. For details, see “Executing tests on AIBO” (page 97).

Note

The ERS-220 retractable headlight opens and closes its cover in response to LED lighting. Do not turn the headlight
on and off within 500ms due to restrictions regarding opening and closing the structure. Please be careful because
Action Composer doesn’t have a function to check this.

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Chapter 5 Action Composer

Creating LED data

Select a brightness level and arrange the LED
data in the LED window.
The length of the arranged LED data
corresponds to the duration of the light.

Specifying LED data

1 Select the brightness level and

place LED data on the score
channel.

If you click a LED on the LED plan, it will
go into input mode so you can see the
corresponding score channel.
The mouse pointer changes to in the
score channel.
When an LED data is placed on the score
channel, the corresponding LED in the
diagram lights up.

Tip

Data will be created with the same duration
that was set the last time.

Note

The ERS-220 retractable headlight has one
brightness level.

Changing LED data

1 From the menu, Select Setup -

Select Mode.

2 Select the LED data you want

from the score channel and
make changes.

Click the LED data you want to change.
You can drag on the score channel to
select several LED data at once.
To select all LED data on the score
channel, choose Edit-Select All from the
menu.
Selected sound data is indicated by being
surrounded by a black line.

To make changes to LED data

The mouse pointer changes shape
depending on the spot and indicates the
available editing function.

Change the timing

(Horizontally)

Change the LED

(vertically)

2 Adjust the LED data as required.

When you place the mouse pointer on an
existing LED data, the pointer changes
shape depending on the spot and
indicates the available editing function.
Drag the mouse to make changes.

Change the timing

(horizontally)

Change the LED

(vertically)

Mouse pointer

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Mouse pointer

To delete LED data

Press the Delete key on the keyboard.

To change the brightness level

Click the brightness button you want.

Change the

duration

Editing overall LED data

1 Select the LED data you want to

edit.

Select Setup - Select Mode from the menu,
and choose the LED data that you want to
change. You can drag on the score channel
to select several LED data together. To
select all LED data on the score channel,
choose Edit-Select All from the menu
Selected LED data is indicated by a black
line around it.

2 From the Edit menu, choose the

edit command you want.

Undo

Cancels the last operation and returns to
the previous state.

Redo

Resume an operation canceled by using
Undo.

Cut

Cuts out the selected LED data and
copies it to the clipboard.

Copy

Copies the selected LED data to the
clipboard.

Paste

Pastes the clipboard contents starting
from the current position onto the
selected LED.

Insert

Inserts the clipboard contents in the
current position for all LEDs.

Delete

Deletes the selected LED data.

Chapter 5 Action Composer

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Chapter 5 Action Composer

Synchronizing elements

In Action Composer, you can synchronize the
three elements by adjusting the starting point of
a sound or by using markers.

Adjusting the starting point of a
sound file

You can adjust the point where a sound file
(WAVE/MIDI) begins playback. To make
adjustments within an element use the markers.

1 In the Action Window, choose

Elements-Set Sound Start Point
from the menu.

The Sound Start Point dialog box appears.

2 Specify the starting time in

frames and click OK.

The file shifts to the new starting point.

Note

One frame equals 0.016 seconds.

Using markers

You can use markers in elements that are part of
actions.
In the Action, MIDI, WAVE and LED Windows,
light-blue markers appear in the key frame
channel to indicate the positions of key frames.
Refer to these markers when synchronizing
sound and LED data with motion. You can also
add separate markers in the MIDI, WAVE and
LED Windows and refer to these markers to
adjust the motion to sound or LED data.

Adding markers

In each Window, click the marker
channel while pressing the Alt key.

A marker appears, its color depending on the
Window type. A marker placed in one Window
will also appear in the other Windows.

Action

Window

(Blue)

To erase a marker

In the Window where the marker was made,
click the marker while pressing the Alt key. The
marker will be erased from all four Windows.

MIDI/WAVE

Window

(Purple)

LED

Window

(Green)

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Note

Markers can be used when the element is part of an
action. If you open an element file directly and edit it
independently from an action, the maker function
cannot be used.
Open markers from the Action window instead of
directly opening the Sound/LED window from the
Main window.

Checking elements and actions

Chapter 5 Action Composer

You can check elements and actions that you
created with Action Composer by playing them
back on a PC or by transferring them to AIBO
over a wireless LAN environment (ERS-210/

220).

Previewing on the PC

You can check actions that you created by
playing them back on the PC.

Click (Play back button) in the Action
Window.

Elements selected in the Preview Window will
be played back in synchronization.
You can preview all elements in the Action
Window at the same time in this window.
Click the

button to see it again.

Note

Only actions and elements included in action libraries
can be tested.

1 Select an action or an element

In Action Composer’s Main Window, click
an action or element file.

2 Transfer an action or element

file

From the menu, choose Test, and the file
that you want to run.

Action file [Test Action]
Motion file [Test Motion]
Sound file [Test Sound]
LED file [Test LED]

A connection will be established with
AIBO, and the Test Play dialog appears.

Playback button

When you finish, click to close the Preview
Window.

Executing tests on AIBO

You can check overall actions, or individual
elements by transferring them to AIBO over a
wireless LAN environment to play them back.
Motions in particular aren’t accurately
simulated on a PC, so we recommend you
replay them on AIBO to check them out as you
create them.

3 Test run

Click Play to start the test. Click Close
when the test is completed.

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Chapter 5 Action Composer

Printing windows

You can print action library files that you have created to check the component information of each
action. You can also print the Action/WAVE/MIDI/LED windows. Set up the page before you print.

Page Setup

1 From the menu, choose File-

Page Setup.

The Print Setup dialog box appears.

2 Set Printer, Paper, and

Orientation.

3 Click OK.

Print

1 From the menu, choose File-

Print.

The Page Setup dialog box appears.

Note

The Print dialog box appears in the Action/
WAVE/MIDI/LED windows. Specify a printer,
printing range, and number of copies, and click
OK.

98

2 Set margins, font, and point

size.

3 Click OK.

Importing/exporting files

Action Composer can import/export library files, and export action files.

Import/export of action library files

Chapter 5 Action Composer

You can import and export an action library file
in plb (Packed action LiBrary) format. This
enables you to easily exchange action libraries
with other AIBO Master Studio users and move
libraries between PCs.

Importing

1 From the menu in the Action

Composer Main Window,
choose File-Import Library.

2 Choose a file name (.plb) to

import.

3 Choose a folder in which to

extract the file.

Extracted content will be saved, and the
action will be added to an open library file
(.alb) automatically at the same time.

Exporting

1 From the menu in the Action

Composer Main Window,
choose File-Export Library.

2 Specify export destination and a

file name (.plb) to save.

The action library will be exported, and a
plb format file will be created.

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Chapter 5 Action Composer

Using other AIBO-ware
action files

If you export action files to axf (Action Export
File) format files, actions can be imported and
used depending on the AIBO-ware application.
For instructions on importing actions, see each
AIBO-ware application’s user’s guide.

Exporting action files

1 In the Action Composer Main

Window, choose an action to
export, and from the menu,
choose Action-Export Action.

The Action Data dialog box appears.

2 Input Creator, Company, and

Comment, and click OK.

3 Select the location to export to

and the file name (.axf), and
save it.

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