Sony Legged Robot Soccer Team
Prof. Manuela Veloso,
Dr. Paul E. Rybski.
Douglas Vail ,
Special thanks to James Bruce
The Sony AIBO Legged League consists of games of soccer between
teams of autonomous quadruped robots made by Sony Corporation. The Sony AIBO's, designed in Sony's Digital
Creatures Lab, are now publicly available and can be programmed with
the OpenR SDK. You can download our
software (see below) and program your very
own Sony AIBO!
We currently have close to 20 robots (ESR-210A), including 4 of the
earlier ESR-110 models. We will be teaching a class in the fall of
2003 which will use these robots. The course notes will be available
on-line so stay tuned! Our research with the Sony AIBO's focuses on the following areas:
- realtime machine vision systems
- robust robot localization methods
- sensor integration and world modeling
- robot locomotion and control (walking in this case)
- robotic behavior and planning systems
- online and offline robot learning
We have a number of Open Source software releases that are
available to everyone. Using Sony's OpenR SDK you can program your own
AIBO (we use the ESR-7's) using our software. We use a Debian Linux
system with GCC-3.3 cross-compiler setup. These items are available
under the GNU LGPL license. We ask that if you use our releases that
you cite our relevant papers appropriately (see our publication
Go to the CORAL Download page
for our full list of downloads.
We have a collection of videos and pictures in the following
These are a selected list of our AIBO publications. For a
complete list of publications from our group, go to our CORAL Publications
Fast and inexpensive color image segmentation for interactive
James Bruce, Tucker Balch, and Manuela Veloso. In Proceedings
of IROS-2000, Japan, October 2000.
Sensor resetting localization for poorly modeled mobile robots,
Scott Lenser and Manuela Veloso. In Proceedings of ICRA-2000,
San Francisco, April 2000.
Vision-servoed localization and behavior-based planning for an
autonomous quadruped legged robot,
Manuela Veloso, Elly Winner, Scott Lenser, James Bruce, and Tucker
Balch, In Proceedings of AIPS-2000, Breckenridge, April
Multi-fidelity behaviors: Acting with variable state information,
Elly Winner and Manuela Veloso. In Proceedings of AAAI-2000,
Austin, August 2000.
The CMTrio-98 Sony legged robot team,
Manuela Veloso and William Uther. In Minoru Asada and Hiroaki
Kitano, editors, RoboCup-98: Robot Soccer World Cup II,
pages 491-497. Springer Verlag, Berlin, 1999.
Manuela Veloso, William Uther, and Masahiro Fujita. Robot
Science and Technology Magazine, November 1998.
Playing soccer with legged robots,
Manuela Veloso, William Uther, Masahiro Fujita, Minoru Asada,
and Hiroaki Kitano. In Proceedings of IROS-98, Intelligent
Robots and Systems Conference, Victoria, Canada, October