Tutorial Guide

Lesson 6 Advanced Course

• To change AIBO from walking forward to walking backwards immediately

when AIBO detects an obstruction, delete “WAIT_1SEC” box, and connect

the ELSE terminal of the OBJECT? box to the input terminal of the OBJECT?

box (looping within the box itself).

This will minimize the time required for detecting an obstruction (not at one-

second intervals).

• Specifying 0 ms in the WAIT command in the WAIT_1SEC box is the same as

a WAIT command with a null parameter. This command causes AIBO to wait

until the completion of

PLAY ACTION WALK 0 10000

in the GO_AHEAD box. Note that this means AIBO will not detect any

obstructions until it finishes walking 10 meters (10,000 mm).

• If no obstructions are detected while AIBO walks forward 10 meters, the

PLAY ACTION WALK 0 10000

command will be completed and AIBO will walk no further. If you show an

obstruction to AIBO when it has stopped after walking the 10 meters, the

program will exit from the loop between the OBJECT? box and the

WAIT_1SEC box, and will then execute the BACK box, which causes AIBO to

walk backward for 5 seconds, and then forward.