Ethan J. Tira-Thompson

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Tekkotsu (the name means “framework”, literally “iron bones” in Japanese) is an application development framework for the Sony AIBO robot dog (Tira-Thompson 2004). It provides a layer of abstraction above the Sony OPENR software interface and offers a variety of services, including an efficient event routing architecture, the ability to share C++ objects(More)
We describe complementary iconic and symbolic representations for parsing the visual world. The iconic pixmap representation is operated on by an extensible set of “visual routines” (Ullman, 1984; Forbus et al., 2001). A symbolic representation, in terms of lines, ellipses, blobs, etc., is extracted from the iconic encoding, manipulated algebraically, and(More)
Hand-eye systems combine computer vision with kinematics and dynamics calculations to achieve dexterous manipulation. These versatile platforms for teaching robotics principles have not been widely used in undergraduate laboratories due to cost. We describe a new hand-eye system constructed from Robotis Dynamixel servos, a USB interface module, and a(More)
Tekkotsu has grown from a specialized framework for development on the Sony Aibo to a general purpose robotics development environment with support for a variety of hardware, algorithms for autonomous operation, virtual simulation, and associated curriculum for undergraduate education. This paper describes the implementation of these features, provides(More)
The introduction of digital microcontrollers into “hobby” servos opens new doors for consumer and educational robotics. However, the new operational modes, parameters, and sensory feedback also add complexity. This paper will analyze the capabilities of these servos, and describe methods of calibration and motion modeling for accurate planning and control.(More)
Tekkotsu (the name means “framework” in Japanese) is an application development framework for the Sony AIBO robot that endeavors to provide an intuitive set of primitives for perception, manipulation, and control. The framework also addresses some of the human-robot interaction problems faced by mobile robot application developers. See www.Tekkotsu.org. The(More)
We combine configural and temporal difference learning in a classical conditioning model. The model is able to solve the negative patterning problem, discriminate sequences of stimuli, and exhibit second order conditioning. We have implemented the algorithm on the Sony AIBO entertainment robot, allowing us to interact with the conditioning model in real(More)
Tekkotsu is an open source application development framework for mobile robots that promotes a high level approach or robot programming which we call “cognitive robotics”. Originally developed for the Sony AIBO, Tekkotsu now supports a variety of platforms under the Linux and Mac OS X operating systems. We present the first version of a new educational(More)