User's Guide

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Chapter 4 Behavior Arranger
LTail_ON (ERS-220 only)
When the tail sensor (left) is pressed, the variable is
set to “1.”
To clear the variable, use the SET command to enter
“0.”
LTail_OFF (ERS-220 only)
The length of time the tail sensor (left) was pressed.
Effective range: 0 to 10,000 Unit: ms
LTail_LONG (ERS-220 only)
When the tail sensor (left) is pressed for 3 seconds or
longer, the variable is set to “1.”
To clear the variable, use the SET command to enter
“0.”
Using AIBO joint angles
Head_Tilt
Head: angle of vertical (up and down) direction
Unit: °
Head_Pan
Head: angle of horizontal (right and left) direction
Unit: °
Head_Roll
Head: rolling angle Unit: °
Mouth (ERS-210 only)
Mouth: opening angle Unit: °
RFLeg_1
First joint of front right leg (shoulder): angle of front
and back direction Unit: °
RFLeg_2
First joint of front right leg (shoulder): angle of right
and left direction Unit: °
RFLeg_3
Second joint of front right leg (elbow): angle of front
and back direction Unit: °
LFLeg_1
First joint of front left leg (shoulder): angle of front
and back direction Unit: °
LFLeg_2
First joint of front left leg (shoulder): angle of right
and left direction Unit: °
LFLeg_3
Second joint of front left leg (elbow): angle of front
and back direction Unit: °
RRLeg_1
First joint of hind right leg (hip): angle of front and
back direction Unit: °
RRLeg_2
First joint of hind right leg (hip): angle of right and
left direction Unit: °
RRLeg_3
Second joint of hind right leg (knee): angle of front
and back direction Unit: °
LRLeg_1
First joint of hind left leg (hip): angle of front and
back direction Unit: °
LRLeg_2
First joint of hind left leg (hip): angle of right and left
direction Unit: °
LRLeg_3
Second joint of hind left leg (knee): angle of front
and back direction Unit: °