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Control System Architecture for an Autonomous Quadruped Robot

The Sony Legged Robot League is an international robot soccer competition that has been launched within the RoboCup initiative [1]. Sony’s quadruped robot AIBO has been adopted as a hardware platform, so the competition in this league is on a software level. The competition rules do not allow remotely controlling robots in any way and the robots are entirely autonomous. Their onboard 64-bit RISK processor provides enough computational power to perform image processing, localization and control tasks in real time. The only information available for decision-making comes from the robot's onboard camera, built in proximity sensors and sensors reporting the state of the robot's body (like the built in acceleration sensor and gyroscope). In this work, the architecture of a control system developed for the AIBO robotic dog is presented. It is a joint team effort of students and their professors from Boğaziçi University, Istanbul, Turkey and TU Sofia Plovdiv branch, Plovdiv, Bulgaria. The system is designed and applied to the Cerberus robotic team participating in the Sony Legged League within the RoboCup competition.