Generating Motion Sequences for AIBO ERS-7

Abstract: This thesis provides a useful open source system for generating motion sequences for the AIBO ERS-7 robot. For this purpose a virtual ERS-7 robot and a corresponding virtual environment have been implemented. All motions are simulated by means of a physics engine, and several useful features have been implemented, in order to allow development of motion sequences as well as exporting of them to the real ERS-7 robot. Finally, good correspondence between the generated motion sequences and the exported motion sequences is achieved. This work, as a motion sequence generator for the ERS-7 robot, provides a useful system for educational and research purposes.