Ethan Tira-Thompson http://www-2.cs.cmu.edu/~tekkotsu/ The Java code isn't as well documented as the AIBO-side C++ code, but most of the protocols are documented on the C++ side of the communication. Those that aren't should be, so please let me know if there is some lacking. I don't know how much you've looked at so far, but a quick intro - the AIBO is considered the server for most purposes - usually users outnumber robots and this also avoids most firewall problems, so you'll probably want to keep that convention going. However, by default almost all servers are deactivated at boot, (a meager attempt at security) until they are enabled by the user through the Controller interface. Most of our servers "know" the class name of their corresponding client on the desktop side, and so when they are launched they request the client to automatically be launched. Thus, for example, if turn on the "Head Remote Control" in the TekkotsuMon menu, it will cause a GUI for directing the head to pop up. If you want to make your own java classes to connect to these, you'll probably just want to turn on the servers you need at boot so you don't have to manually launch them each time. One way to do this is a STARTUP script in your ControllerGUI. Another way is to add start() calls to the items as they are set up in project/StartupBehavior_SetupTekkotsuMon.cc - there's two examples of this in there already, so it shouldn't be too hard. We're planning to add a simple password authentication to the servers sometime in January, so they can be left running without worrying some script kiddie is going to port scan a robot and start screwing around. Memory Sticks I don't think the AiboMind sticks can be used for third-party development. At least ours didn't work, which is kind of mysterious - I'm not sure if earlier AiboMind sticks on earlier Aibos did the same thing. Frigg'n copy "protection" scams. Don't worry though, Tekkotsu+System only take up ~4MB, and a good chunk of that is the default sound data we include. So a 16MB stick should be plenty (that's what we use). Also, it turns out that the memory stick access is so slow and sucks up so much CPU, it's pretty much worthless for writing log data - it's much better to send it over wireless instead. So free space on the stick doesn't wind up being very valuable. Tekkotsu Code Get the CMU Tekkostu s/w quick start system via: http://www-2.cs.cmu.edu/~tekkotsu/QuickStart.html You need to set up a memory stick image, and turn on the AIBO in range of a WiFi setup... it will not boot without that for the CMU code. Install and run the Controller GUI in Java on a PC/MacOS X/Linux system. I was able to send some simple behaviours to the dog to wag its tail, check its battery level and make some sounds. I also got streamed colour vision and segmented line edge style visual processing just using the starter s/w. T To go further you need to get the Sony Open-R SDK and the Tekkotsu sources via https://openr.aibo.com/openr/eng/perm/download/download.html You must register on the Sony site to get the free SDK for AIBO. The sources of Tekkostsu are via http://www-2.cs.cmu.edu/~tekkotsu/TekkotsuInstall.html