A lot of functions are directly available in URBI to generate high-level behaviour. Those features will be described in the next section.
The following table sums up the aibo's functions.
Table 3.3. Standard Aibo's functions and variables.
| Function | Description |
|---|---|
robot.walk(duration) | Walk for duration milliseconds (walk backward if duration is negative). |
robot.stopwalk() | Interrupt the walk. |
robot.turn(duration) | Turn counter-clockwise for duration milliseconds (turn backward if duration is negative). |
robot.stopturn() | Interrupt the turn. |
robot.initial() | Initial position sitting down (stretch and lay). |
robot.stretch() | Stretching like in the morning... |
robot.lay() | Laying (sitting down). |
robot.sit() | Sit on the back. |
robot.beg() | Stand up with knees bent. |
robot.stand() | Stand up. |
| Variable | Description |
|---|---|
robot.walkspeed | speed of walk, the smaller the faster: period of a step. Defaults to 1s. |
robot.turnspeed | Speed of turn, the smaller the faster: period of a step. Defaults to 1s. |
More high-level behaviours are available in ustd, please
read the corresponding documentation to obtain more information.