A Hybrid Software Platform for Sony AIBO Robots

In the development of robotic systems, an interactive software platform plays an important role for control design and parameter optimisation. This paper presents a modular approach to the development of a hybrid software platform for Sony quadruped robots. Such a platform consists of an overhead vision system, a Sony AIBO robot and a desktop PC, and is designed to be interactive in order to speed up the development of various algorithms for object recognition and gait generation. Based on this platform, both the colour segmentation algorithm and the gait control algorithm are investigated. The experimental results are presented to show its operation and good performance.