URBI for Aibo is historically the first URBI Engine that has been created. Although Sony has discontinued the production of Aibo, we will continue to support it for the large existing community and provide up to date releases.

1. Download the memorystick content for the URBI Server:

ERS7 / ERS2xx

- Decompress the memorystick archive corresponding to your Aibo. You should get a directory named MS-ERS7 or MS-ERS200. Enter into this directory.

- From the MS-ERS7 (or MS-ERS200) directory, go to the OPEN-R/SYSTEM/CONF directory where you must set a WLANCONF.TXT file to configure the network properly (see the URBI Wlanconf page to set a WLANCONF.TXT file).

- Copy the content of the MS-ERS7 or MS-ERS200 directory in the root of a blank memorystick, put this memorystick in the robot and start

2. Download and run URBI Remote

(or you can use a simple telnet client on port 54000). Using this client, you can begin to enter URBI commands (don't forget to send the "motors on" command before moving a joint). To know more about URBI commands, there is a Tutorial available and a full language specification to go further.

Also, we suggest that you have a look at the included scripts that are in the root of the memorystick (files ending with the .u extrension): they offer interesting simple programs to do useful things, in particular walk, stand, turn,... Usually, those scripts are loaded by the default URBI.INI autoexecuted file. Otherwise, you can load them with the "load" command.

The list of available devices for Aibo is given in the Aibo URBI Doc.

3. To go further, use the URBI SDK

The URBI SDK (liburbi + UObject) can be used to send commands and receive messages within a C++, Java or Matlab code, or plug C++ objets directly inside URBI. All the TCP/IP job is transparently handled by the library. Read the documentation for the C++ liburbiYou can also plug C++ objects in URBI with the UObject architecture.