Editing AIBO (section)

==Software==
All AIBOs previous to ERS-1000 were bundled with AIBOLife software, enabling the robot to walk, "see" its environment via camera, recognize spoken commands (English and Spanish, or Japanese), and develop a "personality". AIBO's sounds were programmed by Japanese DJ/avant-garde composer [[Nobukazu Takemura]], fusing mechanical and organic concepts.<ref name=WP>[https://pqasb.pqarchiver.com/washingtonpost/access/100935792.html?dids=100935792:100935792&FMT=ABS&FMTS=ABS:FT&type=current&date=Jan+20%2C+2002&author=Joshua+Klein&pub=The+Washington+Post&desc=Nobukazu+Takemura%2C+Synthesizing+Things+Up&pqatl=google Nobukazu Takemura, Synthesizing Things Up] {{Webarchive|url=https://web.archive.org/web/20130622084641/http://pqasb.pqarchiver.com/washingtonpost/access/100935792.html?dids=100935792:100935792&FMT=ABS&FMTS=ABS:FT&type=current&date=Jan+20%2C+2002&author=Joshua+Klein&pub=The+Washington+Post&desc=Nobukazu+Takemura%2C+Synthesizing+Things+Up&pqatl=google |date=2013-06-22 }} ''[[The Washington Post]]'', January 20, 2002</ref>  The sounds in ERS-7 Mind and custom data were composed by Japanese musician and game designer [[Masaya Matsuura]].<ref>{{cite web|url=http://www.sonydigital-link.com/AIBO/2_0_interview.asp |title=Sony AIBO Europe - Official Website - AIBO News |publisher=Sonydigital-link.com |access-date=2013-03-10}}</ref>

===Aperios and Open-R===
Aperios is Sony's Proprietary Real-Time Operating system, used in all AIBOs, QRIO and some other consumer devices. Aperios OS was intended to be widely deployed, using real-time capabilities to handle multiple audio and visual data streams concurrently.<ref>{{cite magazine|url=https://www.wired.com/wired/archive/7.11/sony_pr.html |title=Wired 7.11: Sony's Plan for World Recreation |magazine=Wired |access-date=2013-03-10|last1=Sheff |first1=David }}</ref> The operating system was not widely adopted, and by 2003 Sony had stopped active development with COO Kunitake Ando commenting "Aperios was an operating system of a pre-Internet age and we decided that it isn't adequate for the future".<ref>{{cite web|url=http://eetimes.com/electronics-news/4137118/Linux-and-TV-called-key-to-broadband-tsunami |title=Linux and TV called key to broadband tsunami |date=9 January 2003 |publisher=Eetimes.com |access-date=2013-03-10}}</ref>

The OPEN-R architecture is specific to entertainment robots. The architecture involves the use of modular hardware components, such as appendages that can be easily removed and replaced to change the shape and function of the robots, and modular software components that can be interchanged to change their behavior and movement patterns. AIBO's creator, Doi, called OPEN-R the "masterpiece" of the AIBO development project, arguing it would minimize the need for programming individual movements or responses, and its "open" nature would encourage a global community of robot specialists and programmers to add capability.<ref name="This Cute Little Pet Is a Robot"/>

===AIBOware===
First and second generation models of AIBO can load different software packages sold by Sony. AIBOware (a trademark of Sony corporation) is the title given to the [[software]] the AIBO runs on its pink [[Memory Stick]]. The ''Life'' AIBOware allows the [[robot]] to be raised from pup to fully grown adult while going through various stages of development as its owner interacts with it. The ''Explorer'' AIBOware allows the owner to interact with a fully mature robot able to understand (though not necessarily willing to obey) 100 voice commands. Without AIBOware, AIBOs run in "clinic mode" and can only perform basic actions.

Third generation ERS-7 models have a sole "Mind" software that includes capabilities of AIBOLife and other AIBOware packages. Mind software also includes a docking process, allowing ERS-7s to recharge autonomously. Upgrades in Mind2 included the AIBO Entertainment Player, a Wi-Fi based connection to a PC. Upgrades in Mind3 included speech, blogging and autonomous room mapping.

AIBO's complete vision system uses the [[scale-invariant feature transform]] (SIFT) algorithm to recognise its charging station. The vision system is an implementation of [[Evolution Robotics]] ERVision.

'''Notable AIBOware software'''
{| class="wikitable"
|-
! Name !! Description !! Supported Models
|-
| AIBO Life  ||Allows users to raise their Aibos from baby to adult. || ERS 20x and 31x AIBOs
|-
| Hello AIBO! ||Allows users to begin with a "mature" AIBO, skipping the raising process. || ERS 11x, ERS 21x, and ERS 31x AIBOs
|-
| AIBO Custom Manager||Allows users to load ''Mind'' with different sounds, dance routines and voices. || ERS-7 Third Generation AIBOs
|-
| AIBO Entertainment Player ||Allows remote monitoring or control of AIBO ''Mind'' by a PC connected by WiFi. || ERS-7 Third Generation AIBOs
|}

'''Notable third-party software'''

{| class="wikitable"
|-
! Name !! Description !! Supported Models
|-
| DogsLife || An AIBO personality duplicating (and occasionally improving upon) Hello-AIBO.<ref>{{cite web|author=DogsBody |url=http://www.dogsbodynet.com/dogslife.html |title=It's a DogsLife! |publisher=Dogsbodynet.com |access-date=2013-03-10}}</ref> || Second-generation AIBOs
|-
| Skitter || AIBO "performance" editor, allowing users to create and cause AIBO to perform skits via a PC connected the AIBO by WiFi.<ref>{{cite web|author=DogsBody |url=http://www.dogsbodynet.com/skitter.html |title=Skitter Performance Editor |publisher=Dogsbodynet.com |access-date=2013-03-10}}</ref> || All
|-
| aiboplus || Replacement personality to explore new ways in the artificial intelligence.<ref name="aiboplus.sourceforge.net">{{cite web|url=http://aiboplus.sourceforge.net/index.html |title=AiBO |publisher=Aiboplus.sourceforge.net |access-date=2013-03-10}}</ref> || ERS-7
|-
|AiboStella || iOS controller, patterned after AEP, using URBI framework<ref>{{cite web|author=Tippy tap tap |url=https://itunes.apple.com/app/aibostella/id365525629?mt=8 |archive-url=https://web.archive.org/web/20140617012451/https://itunes.apple.com/app/aibostella/id365525629?mt=8 |url-status=dead |archive-date=June 17, 2014 |title=AiboStella for iPhone, iPod touch, and iPad on the iTunes App Store |publisher=[[iTunes]] |date=2010-07-12 |access-date=2013-03-10}}</ref> || ERS-7, ERS-210, ERS-220
|-
| AIBO Control || Android controller, using URBI framework.<ref name="play.google.com">{{cite web|url=https://play.google.com/store/apps/details?id=com.aibo.android |title=Aibo Control - Android-apps op Google Play |date=2012-04-20 |access-date=2013-03-10}}</ref> || ERS-7
|}

Free third-party software is available from providers such as Robot App Store.<ref>{{cite web |author=Robot Page: AIBO |url=http://www.robotappstore.com/Pages/Model.aspx?Model=AIBO |title=AIBO - Robot Page |publisher=Robot App Store |access-date=2013-03-10 |archive-url=https://web.archive.org/web/20130315070249/http://www.robotappstore.com/Pages/Model.aspx?Model=AIBO |archive-date=2013-03-15 |url-status=dead }}</ref>

===AIBO Software Development Environment===

Initially, access to programming capabilities was limited to Sony and organizations participating in Robocup. By reverse-engineering AIBO, users developed their own software that operated together with AIBOware such as "DiscoAibo" which made the robotic canine dance to music.

In a significant copyright milestone, Sony invoked the [[Digital Millennium Copyright Act]] in October 2001, and sent a cease-and-desist notice demanding that "Aibopet" stop distributing code that was retrieved by bypassing the [[copy protection]] mechanisms.<ref>{{cite web|url=http://chillingeffects.org/anticircumvention/notice.cgi?NoticeID=24 |archive-url=http://arquivo.pt/wayback/20091014133659/http://www.chillingeffects.org/anticircumvention/notice.cgi?NoticeID=24 |url-status=dead |archive-date=2009-10-14 |title=No New Tricks for Robot Dog - Chilling Effects Clearinghouse |access-date=2013-03-10 }}</ref><ref>{{cite news|last=Harmon |first=Amy |url=https://www.nytimes.com/2001/11/05/technology/05AIBO.html |title=Sony Tightens Leash on Its Robotic Dog |newspaper=NYTimes.com |date=2001-11-05 |access-date=2013-03-10}}</ref><ref>{{cite web|url=https://www.eff.org/wp/unintended-consequences-under-dmca |title=Unintended Consequences: Twelve Years under the DMCA {{pipe}} Electronic Frontier Foundation |publisher=Eff.org |date=2010-03-03 |access-date=2013-03-10}}</ref>  In the face of complaints by many outraged AIBO owners,<ref>{{cite magazine|author=Farhad Manjoo |url=https://www.wired.com/techbiz/media/news/2001/11/48088 |title=Aibo Owners Biting Mad at Sony |magazine=Wired |date=2 November 2001 |access-date=2013-03-10}}</ref> Sony backed down and subsequently released a programmer's kit for "non-commercial" use.<ref>{{cite web|last=Sony Corporation|title=OPEN-R Architecture Specifications To Be Made Public|url=http://www.sony.net/SonyInfo/News/Press/200205/02-017E/}}</ref>

The kit was eventually expanded into three distinct tools: R-CODE, the OPEN-R SDK ([[software development kit]]) and the AIBO Remote Framework (ERS-7 only). These three tools are combined under the name AIBO Software Development Environment. R-CODE and AIBO Remote FRamework were free to download and could be used for commercial or non-commercial purposes, while OPEN-R SDK is specifically for non-commercial use.

====OPEN-R SDK====
The OPEN-R SDK is a C++ based programming SDK, based on open-source tools (like gcc and newlib), that allows the creation of software for AIBO platforms. This SDK is considered low-level and allows control of everything from the gain values of AIBO's actuators to retrieving AIBO's camera data and performing computer vision computations. No pre-built "standard" AIBO functionality is provided, such as it is with R-Code and AIBO Remote Framework. It thus permits low-level robotic research.

====R-CODE and R-CODE plus====
R-Code is a high-level scripting language for AIBO, allowing creation of simple programs for an AIBO to execute. Remoting is possible via a simple WiFi terminal socket connection. Commercial usage is allowed, and the license fee is free.

R-CodePlus is a derivative of R-Code by AiboPet with several added functionalities. R-CodePlus is a superset of R-Code in terms of language, so everything written in standard R-Code will work on an R-CodePlus MemoryStick (for the same Model AIBO). R-CodePlus exposes new AIBO functions such as simple face recognition, name registration, and camera adjustment settings. In addition to the standard R-Code terminal socket for remoting, R-CodePlus supplies a "Telemetry" socket for several binary data transfers such as AIBO's camera image and sending/receiving sound.<ref>{{cite web|url=http://aibohack.com/rcode/rcp_overview.htm |title=[AiboHack] AiboPet R-code Extensions |publisher=Aibohack.com |access-date=2013-03-10}}</ref>

Aibnet offers a development environment for R-Code programming.<ref>{{cite web|author=DogsBody |url=http://www.dogsbodynet.com/aibnet.html |title=Aibnet Telnet Console |publisher=Dogsbodynet.com |access-date=2013-03-10}}</ref>

Simplified drag-and-drop customizing of behavior is available via the user-created YART ("Yet Another RCode Tool ")<ref>{{cite web|url=http://aibohack.com/rcode/yart.htm |title=[AiboHack] YART = Yet Another R-Code Tool |publisher=Aibohack.com |access-date=2013-03-10}}</ref>

==== AIBO Remote Framework ====

Remotely access capabilities of AIBO MIND including behaviors and pattern recognition from a Windows PC. Same functionality used in the Aibo Entertainment Player. The AIBO Remote Framework is a Windows PC API based on Visual C++. The Framework can be used to write code that can remotely control an AIBO running MIND2 or MIND3 Aiboware via a wireless LAN. Commercial usage is allowed, and the license fee is free.

===Other Development Environments===
Several robot software development frameworks have been developed that support AIBOs, including [[URBI]], Tekkotsu,<ref>{{Cite web|url=http://www.tekkotsu.org/about.html|title=About Tekkotsu|date=2010|website=www.tekkotsu.org|publisher=Carnegie Mellon University|access-date=2017-01-22}}</ref> and [[Python Robotics|Pyro]].

===Current Projects===

AiBO+ is a replacement personality for Sony ERS-7. The project provides an AEP-like application (AiBO+ Client) to connect to the robot under Ubuntu Linux, Windows, Mac OS X, iOS, and Android. The owner can control the dog, play a game and see the robot state.<ref name="aiboplus.sourceforge.net"/>

AIBO Control allows Android users to control AIBO ERS-7's running URBI.<ref name="play.google.com"/>

The Open-R and [[GNU Compiler Collection|GCC]] based [[toolchain]] has been updated by the community to use GCC 5.4, [[GNU Binutils|Binutils]] 2.24 and [[Newlib]] 1.15. This improvement brings the latest C++11/C++14 features and modern software to program the robot. The packaged version of the old and updated AIBO toolchain is available for [[Ubuntu (operating system)|Ubuntu]] in a [[Personal Package Archive|PPA]].<ref>{{cite web|url=http://launchpad.net/~csaba-kertesz/+archive/aiboplus |title=Ubuntu PPA with Aibo toolchain |publisher=Launchpad.net |access-date=2013-03-10}}</ref>