When we sell restored or fully refurbished Aibo's we offer our 12 month no quibble guarantee - this document will outline what it covers (and what it doesn't)

We guarantee that for a 12 month period we will repair any faults that occur from normal use of the associated product.

This excludes any faults that occur from damage or misuse - we don't cover any consequential loss of any kind for any reason so if your Aibo was due to be in a film or advert we won't cover any loss associated with anything like this.

Other than that we don't put in place crazy restrictions but we do specify that the shipping to us is to be covered by the buyer - this is the same as any normal manufacturer or repairer.

Providing we can identify that the fault was not caused by misuse we will repair and return the item to the customer (in the UK) for free - if you are overseas you will be responsible for return shipping.

If however the fault is found to be related to misuse and/or damage then the customer will be charged a diagnostic fee (£75) and we will offer a quote for the repairs.

Should you decline this quote you will still be liable for the diagnostics fee of £75 and the return shipping costs before we will return the item to you.


** Battery re cell procedures do not carry a 12 month guarantee - they are covered by a standard 3 month guarantee which covers defective parts that have been used during the repair procedure**

**The circuitry in older Aibo packs is as much as 21 years old and as such our guarantee does not cover the original electronics within the pack - it is limited to the cells themselves and any defects in our craftsmanship**

**Under normal use the new cells will perform as good as or better than the original ones that Sony put in when they were new and we have packs in our own Aibo's that have been running for many years without issue**

All Errors and Omissions are excepted.

The ERS-220 was released by Sony in November 2001. (content combined from the Aibo wiki and other sources)


  • 1History
  • 2Design
  • 3Function
    • 3.1Hardware
    • 3.2Models
      • 3.2.1Supercore
      • 3.2.2Special Editions
    • 3.3Software
    • 3.4Troubleshooting


Released shortly after the ERS-311 and ERS-312 on 11/8/2001, the ERS-220 aimed to embrace robotic and mechanical design. The ERS-220A model began preorder on July 1st in the US and EU.


A collage of Kawamori's work on AIBO

The ERS-220 was designed by Japanese designer, artist, and producer Shoji Kawamori. Notably, he also created the anime series Macross and worked on mechanical design for Ghost in the Shell.
Unlike other AIBO models, the ERS-220 was not designed to appear at all organic but instead took a directly mecha-inspired approach.



The hardware of the ERS-220 is identical to the ERS-210 with the exclusion of four degrees of freedom (no moving "tail" module or articulated ears). A variety of LEDs were added that were not present on the ERS-210.

Processor 64-bit RISC processor
Memory 32MB
Inputs PC Card Type III
Charging terminal
Camera 100,000-pixel CMOS image sensor
Audio Input Stereo microphone
Audio output Speaker
Sensors Thermometric sensor
Infrared distance sensor
Acceleration sensor
Pressure sensor (on the head), with switches on the chin, back, and paws
Vibration sensor
Degrees of freedom Head: 3 degrees of freedom
Retractable head light: 1 degree of freedom
Leg: 16 degrees of freedom per leg
(20 degrees of freedom in total)
Power consumption Approx 9 W (in normal mode)



Along with ERS-210's, the ERS-220 was released as a Supercore AIBO. However, the ERS-220 was not utilized in RoboCup competition. Worth noting is the ERS-220's dependence on OPEN-R 1.1.3, which shipped out-of-the box with Supercore modules but not the initial releases of 2x0 cores.

Special Editions

The ERS-220 was also released as the Transformation Kit, or ERS-220E1 (referred to as ERS-220/TK frequently by the community.) The kit included the ERS-220's modular components (head, tail, legs) without a core as to offer a way for ERS-210 owners to update, if desired, to the newer AIBO.

The third generation of original AIBOs, the ERS-7 was the most advanced AIBO of its era.

"Crystal" the transparent ERS-7.

Sony's Third-Generation AIBO Entertainment Robot Grows Up With Upgraded Software and New Hue

Sony Electronics - 10/06/2004

Who says you can't teach an old dog new tricks? Check out the latest upgrade to Sony's canine-like AIBO® Entertainment Robot (ERS-7M2/W and ERS-7M2/B).

Advanced technology, new software applications and an elegant pearl black color have been incorporated in the latest version of the robot, offering more personalized interaction, new tricks and even the ability to house sit. The stylish color variation provides a contrasting balance against the other pearlescent white AIBO robots in the product line.

"The latest AIBO Entertainment Robot is the perfect companion for design- savvy customers seeking a whimsical way to combine the convenience of advanced technology with entertainment applications," said Ken Orii, senior sales and marketing manager of Sony Electronics' e-Solutions Company LLC.

AIBO Entertainment Player and AIBO MIND 2 Software

With new AIBO Entertainment Player (AEP) functions AIBO ERS-7 model owners can control, program and navigate the robot wirelessly from the PC.

The robot's digital camera functions also get a boost with the addition of video recording capabilities, which can make AIBO an effective house-sitter, recording activities in the home while owners are at work or on vacation. The combination of AEP and AIBO MIND 2 (a software application on 32 MB Memory Stick® media) offers several customized recording modes -- continuous, time lapsed, motion activated and sound activated. In addition, the AIBO EYES function allows owners to receive e-mail directly from the AIBO robot with an attached photo.

AIBO robot can also playback your favorite digital music files (compatible with WAV, MP3 and WMA files) or CDs from its speakers while it dances to the beat. AIBO Scheduler is compatible with Microsoft® Outlook®, so it can remind you about important appointments.

The new software improves the AIBO robot's reaction time for better response to voice commands. The new robot also has advanced face tracking and faster, smoother movements that improve its detection ability to avoid obstacles at a greater distance or in a darker environment.

The new ERS-7M2/W (pearl white) and ERS-7M2/B (pearl black) models include AIBO Entertainment Player and AIBO MIND 2 software and will be available in mid-November through Sony Style stores and direct at www.sonystyle.com. The AIBO MIND 2 software upgrade will be available for about $100 (AIBO MIND 2 software may be used with all AIBO ERS-7 models), and the upgraded AIBO robot will be available for about $1,900.

For additional information about Sony products, call (888) 222-SONY, or visit Sony's web site at: www.aibo.com. Press releases and digital images are available for the media at Sony Electronics' news and information web site at: www.sony.com/news.

For further information please contact: Shoko Yanagisawa of Sony Electronics Inc., +1-858-942-7601, This email address is being protected from spambots. You need JavaScript enabled to view it.

SOURCE: Sony Electronics Inc.


below are some press release regarding the ers-7


Press Release

Berlin, 6TH October 2004


Replace MP3 players and PDAs with AIBO. With the advanced new AIBO MIND 2 software, AIBO gains wireless connectivity and the ability to record moving pictures, recognise patterns, voices and faces, obey commands to play music from MP3 lists or Internet radio and dance along, read out scheduled items and wake you!

AIBO- the life and soul of the party
Here you are, host of the party and it’s time for AIBO to entertain your friends. “AIBO, play music!” you say and your companion complies, playing out random songs from your favourite CDs from its built in speaker while dancing to the tunes. When AIBO is finished your friends have their turn, showing your party animal one of your selection of CDs and marvelling as AIBO recognises the cover and plays the music they’ve selected. AIBO isn’t finished with its magic however as it can pick up and play music from Internet radio stations or from your MP3 playlist in response to your spoken commands.
Much more than a musical entertainer, improved Navigator functions and wireless networkingmean AIBO can be an even more interactive aid to party hosts. AIBO can send back sound and vision to your PC from a head mounted camera and microphones and transmit your voice through its speaker, so the fun possibilities are endless. Send AIBO into a circle of your friends,


while you monitor movements from your PC, then observe their startled reactions as AIBO

Press Release

Berlin, 6TH October 2004

AIBO the carefree companion

There’s no need for you to look after AIBO though. When its battery needs recharging, AIBO simply goes to its Energy Station at any time of the day or night. When AIBO is bored it can play with itsAIBOne which it can chase, pick up and bring back to you, or its pink ball with which it can play football- AIBO can even race between obstacles! AIBO can even show its emotions - it’ll let you know how it’s feeling by the many expressions on its face panel- so give your friend a pat to express your understanding and to develop its personality. If you already have a new AIBO ERS-7 model, a simple upgrade will add all the new features, but retain the personality and memory of your playful pal. Although AIBO will learn to recognise its tasks and obey your commands, you can set it back to a puppy stage for play whenever you want, before switching back to mature mode when there’s work to be done.

“Always an intelligent and versatile friend, AIBO has now become much, much more,”says Nicolas Babin, Director of Sony Entertainment Robot Europe. “The development of the AIBO MIND 2 software now included with the pearlescent white and new black AIBO model represents an important milestone in the history of domestic robots. Now AIBO is truly a functioning, responsive part of the modern family, fulfilling important organisational and visual tasks as well as providing entertainment and companionship.”


Press Release

Berlin, 6TH October 2004


Please find below further details about products and services highlighted in the Press Release:

About AIBO ERS-7M2

AIBO is an autonomous, intelligent companion from Sony Entertainment Robot Europe that responds to voice commands, uses integrated camera and various sensors or pattern recognition to fulfil tasks and connects to a wireless network to become part of a home entertainment.. Available in two colours - the standard pearl white and the new pearl black body (with various body parts defined in dark grey metallic and brown and grey smoke colours) the AIBO ERS-7M2 now includes AIBO Mind 2 software to perform even more impressive tasks and take full advantage of AIBO’s capabilities (see below for more on MIND 2).
AIBO has specially developed tactile touch sensors on its back, head and chin that double as remote control sensors for commands and as receptors for interacting with its owners (AIBO learns and develops with more human interaction). The AIBO ERS-7 also features Illume -Face , Sony’s innovative LED face panel that provides a way for the robot to express its feelings, emotions and current conditions. The LED display also indicates when AIBO is transmitting images and sounds or receiving sound over a wireless connection
The Sony AIBO ERS-7 with AIBO MIND 2 will be available in November 2004 in pearl black (ERS- 7M2/B) and pearl white (ERS-7M2/W) colours.

About MIND 2 Software

The AIBO MIND 2 software supplied with Sony’s companion brings a new level of artificial intelligence to entertainment robotics. It is split into the AIBO Entertainment Player (AEP) and a range of new Autonomous functions. The AEP can be configured and controlled from the PC screen and is further divided into three main features. The Music Player component manages AIBO’s playlist of MP3 music and Internet radio stations enabling AIBO to playback music and dance along following a PC, voice or visual cue. The Navigator component allows AIBO to be controlled remotely including using a microphone to transmit your voice through AIBO’s speaker, allows monitoring of video and sounds (with a new video recording option) and provides improved reaction speed to remote commands. Finally the Scheduler provides personal time management by importing calendars from the PC diary and reading the schedules out, converting Text to Speech on the PC and streaming the speech to PCM audio for AIBO to play and respond to with actions. There’s no need for a clock radio either as Scheduler ensure that AIBO will play music at your programmed wake-up time.
AIBO’s new autonomous features include a new pick up mode and tricks; ‘House Sitter’ mode for responding to noise or movement by recording and emailing sound and pictures, using interval recording mode; there is also faster reaction to voice commands and improved obstacle avoidance as well as optimised self-charging.

AIBO has sophisticated visual pattern recognition features enabling it to remember specific objects and patterns - just control AIBO to locate an object such as a CD cover using its built-in video

camera, then select capture on the control software and assign an action for AIBO to perform when

Press Release

Berlin, 6TH October 2004

Key specifications:

  • Dimensions :180 (W) x 278 (H) x 319 (D) mm

  • Weight Approx. 1.65kg (including battery & memory stick)

  • CPU : 64bit RISC Processor

  • CPU Clock Speed : 576MHz

  • Memory: 64Mbyte SDRAM, Memory Stick for Program Storage

  • Movable Parts

o Mouth - 1 degree of freedom
o Head - 3 degrees of freedom
o Leg - 3 degrees of freedom x 4 legso Ear-1degreeoffreedomx2
o Tail - 2 degrees of freedom

  • Camera :CMOS Image Sensor 350,000 pixels

  • IEEE 802.11b (Integrated)Wireless LAN Card

  • Audio: Miniature Microphones, Miniature Speaker, 20.8mm,500mW, MIDI, Volume Switch

  • Built-in Sensors

    o Infrared Distance Sensor (head, body)o Acceleration Sensor
    o Electric Static Sensor (head, back)
    o Pressure Sensor (chin, paws (4)

    o Vibration Sensor

    o Temperature Sensor

  • Power Consumption: Approx. 7W (Standard operation in autonomous mode)

  • Operating Time: Approx. 1.5 Hours (Standard operation in autonomous mode)

  • Charging Time: Approx. 2.5 Hours

  • LED mode and emotion lights :

o Illume face: 24 LED (white 12, red 4, blue 4, green4)o Ear : 2 (left & right)
o Head sensor : 2 (white and amber)
o Head (wireless LAN on/off) : 1(blue

o Back sensor : 16 (white 8, red 3, blue 3, orange 2• Supplied Accessories:

o AIBO MIND 2 (software), Energy station, Energy station pole, AC adapter, Lithium Ion Battery pack, Pink ball, AIBOne, AIBO Cards, Documentation CD-ROM containing Installer, AEP and RFW, WLAN Manager and PDF Manuals, Paper Manual.

AIBO Mind 2 System Requirements

  • AIBO ERS-7

  • Microsoft® Windows® PC

o OS: Microsoft® Windows® XP (SP1/SP2) / Windows® 2000 Professional (SP4)o Language : English, Japanese
o CPU : Intel® Pentium III 800MHz、256MB Memory、120MB HDD


o 3D Graphic Card with 16MB or more VRAM

Press Release

Berlin, 6TH October 2004


In addition, for any queries about Sony in your respective country, please contact your local Sony PR office.

About Sony:

Sony manufactures audio, video, communications and information technology products for the global consumer and professional markets. With its music, pictures, game and online businesses, Sony is uniquely positioned to become a leading personal broadband entertainment company in the 21st century. In Europe, Sony recorded consolidated annual sales of EUR 13.47 billion (yen 1,765 billion) for the fiscal year ended March 31, 2004, based on an average market exchange rate for the same period of yen 131 to the EUR. Sony Europe, headquartered at the Sony Center am Potsdamer Platz in Berlin, is responsible for the company's European electronics business and registered consolidated sales of EUR 8.71 billion for the fiscal year ended March 31, 2004.

Sony Launches Four-Legged Entertainment Robot
"AIBO" Creates a New Market for Robot-Based Entertainment
Limited Edition for Sale Exclusively over the Internet



(Tokyo, Japan) -- Sony Corporation today announced the launch of a four-legged entertainment robot called "AIBO" [ERS-110] and an "AIBO Performer Kit" [ERF-510] motion editor that makes it possible for users to create original movements for "AIBO," the first robot designed for home entertainment purposes. Sony aims to begin building an entirely new market for robot entertainment by making "AIBO" available to residents of Japan and the United States of America in limited quantities while maintaining close contact with the users. All sales will be handled exclusively over the Internet through the following home page.

Product Description Orders
Retail Price
(excluding tax)
"AIBO" Entertainment Robot [ERS-110], Station, AC Adapter, Li-Ion Battery [ERA-110B] (set of 2), Sound Commander remote control unit, 8MB pre-recorded Memory Stick, colored ball, and other accessories. June 1, 1999
09:00 JST
Early July 250,000 yen
in Japan
3,000 Units
for Japan
June 1, 1999
09:00 EDT
Early July USD$2500
in the USA
2,000 Units
for the USA
"AIBO Performer Kit" Motion Editor [ERF-510], 8MB Memory Stick, Memory Stick PC Adapter Card June 1, 1999
09:00 JST
Early July 50,000 yen
in Japan
- - - - -
June 1, 1999
09:00 EDT
Early July USD$450
in the USA
- - - - -

"AIBO" Sales Homepage http://www.aibo.com *this link is no longer active and a revised page does not exist.

"AIBO" [ERS-110] is an autonomous robot that acts both in response to external stimuli and according to its own judgement. "AIBO" can express various emotions, grow through learning, and communicate with human beings to bring an entirely new form of entertainment into the home.

Not only is "AIBO" capable of four-legged locomotion by virtue of the 3 degrees-of-freedom in each of its legs, but it can also perform other complex movements using its mouth, tail, and head, which have 1, 2, and 3 degrees-of freedom, respectively. "AIBO" incorporates various sensors and autonomous programs that enable it to behave like a living creature, reacting to external stimuli and acting on its own judgement. "AIBO's" capacity for learning and growth is based on state-of-the-art artificial intelligence technology that shapes the robot's behavior and response as a result of repeated communication with the user and interaction with the external environment.

The "AIBO Performer Kit" [ERF-510] includes an easy-to-use motion editor tool that allows users to create original motions for "AIBO". A graphical user interface that makes it simple to create motion programs for "AIBO" on a personal computer.

Main Features of "AIBO" [ERS-110]

1. Autonomous Judgement and Response
"AIBO" incorporates emotions such as happiness and anger and instincts such as the need for companionship. It operates autonomously in response to external stimuli and its own temperament and express emotions as well. "AIBO" is equipped with adaptive learning and growth capabilities that allow each unit to develop a unique personality including behavior shaped by the praise and scolding of its owner. Moreover, "AIBO" features 'game' and 'performance' modes that allow the user to give instructions to the robot using a tone-based remote control unit called the "Sound Commander." Users can also create motion data using a PC-based motion editor tool, which is sold separately, for the performance mode.

2. Smooth Movement with 18 Degrees-of-Freedom
A total of 18 degrees-of-freedom (1 for mouth, 2 for tail, 3 for head, and 3 for each leg) allow "AIBO" to walk smoothly on four legs as well as perform other complex motions.

3. Memory Stick for Easy Replacement of Programs
A pre-recorded 8MB "Memory Stick" comes as an accessory to "AIBO". It is used to store the software modules that control "AIBO's" movements and data that is generated during the learning process. "Memory Stick" makes it easy for users to insert new software modules into "AIBO," including original motion programs created by the user using the motion editor (sold separately).

4. Modular Software Based on the OPEN-R Architecture
"AIBO" employs modular software based on the OPEN-R architecture to facilitate the quick and easy addition and/or replacement of individual software modules.

5. Advanced Sensors Provide Increased Autonomy
The use of sensors, microphones, and speakers that roughly correspond to the sensory organs of a living creature make it possible for "AIBO" to communicate and react to external stimuli with a high degree of autonomy.

Touch Sensor : For recognizing tactile stimulation like being pet or hit
Color CCD Camera : For detecting the shapes and colors of objects when approaching or avoiding them
Range Finder : For detecting the distance to objects
LED Lamps : For expressing happiness (green) and anger (red)
Mini Stereo Microphone : For detecting the direction of a sound source and hearing sound from the Sound Commander remote control
Miniature Speaker : Allows "AIBO" to make sounds
Acceleration Sensor : For use in maintaining balance and regaining balance when recovering from a fall
Angular Velocity Sensor : For detecting rotary motion

6. Other Features

- Powerful 64-bit RISC processor
- Equipped with 16MB of Main Memory
- Employs Sony's "Aperios" Real-time Operating System
- Comes with two special Li-Ion Batteries


[ERS-110] Technical Specifications

CPU 64-bit RISC Processor
Main Memory 16MB
Program Memory 8MB Memory Stick (Accessory)
Moving Parts Mouth: 1 degree-of-freedom
Head: 3 degrees-of-freedom
Legs: 3 degrees-of-freedom (x 4)
Tail: 2 degrees-of-freedomspacesTotal: 18
Video Input 180,000 pixel color CCD camera (x 1) Head
Audio Input Stereo microphone (one on each side) Head
Audio Output Speaker (x 1) Head
Heat Detector Heat Sensor (x 2) Torso
Range Finder Infra-red range finding sensor (x 1) Head
Acceleration Detector Spatial acceleration sensor (x 1) Legs
Rotation Detector Angular velocity sensor (x 1) Legs
Contact Detectors Touch sensor (x 1), Switch (x 4) Head, Legs
Power Source DC7.2V (Lithium Ion Battery [ERA-110B])
Energy Consumption 12.6W (autonomous mode)
Operating Time Approx. 1.5 hours (using fully charged battery)
Dimensions (l x w x h) Approx. 274 x 156 x 266mm (not including tail)
Weight About 1.4kg (Body Only)
About 1.6kg (Including Memory Stick and Battery)

* "AIBO," the "AIBO" logo, "Memory Stick" and "OPEN-R" are trademarks of Sony Corporation.
* Pentium® is a registered trademark of Intel Corporation.
* Windows95® and Windows98® are registered trademarks of Microsoft Corporation.
Other product and company names herein may be trademarks of their respective owners.


Yes you saw that for real, I can and will repair most faults to the pcb contained within the battery of all Aibo models.

One of the biggest killers of Aibo batteries is lack of use, yes this may sound odd but when the cells drop below a certain value a protection circuit kicks in and then this prevents the cells form being charged (as it could overload the charging circuit and/or damage the battery).

This protection circuit is necessary because of the way lithium ion batteries are charged.  Their initial charge period is called constant current where the current is allowed to ramp up to the max available by the charging circuit.

After this initial flood charge period the battery will achieve it's potential max voltage (8.4volts for 7.4 volt packs) the charger then switches to constant voltage charging mode where the voltage is held at 8.4 volts (for 7.4 volt packs) and the current is slowly reduced by the battery demanding less and less from the charging circuit.

Eventually this current will drop to the float level which is the value required to keep the pack topped up but not over charge it and cause overheating.


Aibo batteries have this charger design and like most lithium ion battery packs they are of the smart battery design, this has some of the protection circuitry within the battery itself and is part of the problem that Li-ioN smart batteries suffer from as a whole.

Once that pack voltage drops below a certain threshold it's days are numbered.

What this then means is that the voltage inside can only drop as the cells gradually leak voltage unless charged to a very specific storage charge, flaws in the design of the circuit meant that even new unused batteries become useless after prolonged periods of storage.

This then created that catch 22 situation where the battery needed charging but the battery refused to let the system charge it - effectively disabling itself forever (in most cases).

The internal cells then continue to reduce in voltage until they get to a stage that they will never recover, even if they are charged outside of their internal charging circuitry by opening the case.  This is the case for the vast majority of original Aibo 110/111/210/220/300 and 7 series batteries and re-celling is the only option.

We can replace the cells in all models of battery and when re-celled the batteries will be of a higher capacity than they were when manufactured as the batteries available today have higher energy densities than were available back then.  However this does not necessarily mean your AIbo will run twice as long with a 4ah cell structure as opposed to a 2ah one.

Lithium Ion cells suffer what is known as sagging - the drain on the pack pulls the voltage down - Aibo sees this and will switch off towards the end of the pack charge - often you can switch them back on and they will run another 20 minutes or so.



In tests (and reported by our customers) run times on 210 batteries that we have re celled have run for well over 2 hours and as long as 3 hours in active use.

When it comes to repairing the pcb's within we reserve the right to reject any repairs that are clearly beyond economic repair because a budding diy enthusiast has fried it big time.


As seen in the image below - storage for extended periods can cause the cells within to leak and corrode.

Leaky Sony Aibo ERA-201B



We use the same spot welding techniques used by the original pack manufacturer and maintain all the correct insulation methods and cable and cell placement - we don't cut any corners and all safety features remain intact.

The pack control circuitry gets reprogrammed to allow it to correctly record the higher capacity of the new cells - all charge counters are also reset.

 After re cell / repair has been completed your batteries will look like the image below (ERA201B - ERS210/220 Battery) inside :-


Sony Aibo ERA-201B ERS-210/220 Battery 



All our repaired / re celled batteries undergo rigorous testing prior to being shipped using our state of the art DC load testing kit as shown below:-


Sony Aibo Battery Testing Equipment




The ERS-1100 is a rare version of the ERS-110 that was made exclusively for projects like RoboCup’s Four Legged League in 1999 and 2000.

In 2000, 12 different groups competed, for a total of at least 36 ERS-1100 robots existing.

It’s not known if many of these special pups are still around, but one is known to have spent some time at the AIBO Ranch in California!

If you look closely at the image you can see the rectangular panel in the middle of the ERS-1100′s back isn't fixe like it is in a 110 and is removable. There is also a covered plug on the back of 1100’s head. With these modifications, the RoboCup teams could connect Aibo to a computer to view data and get a better understanding of how Aibo interacts with and sees the world.

In a book published by one of the teams they go into detail about the challenges they faced due to the narrow field of vision and limited external sensor inputs and also the limited cpu compute performance to enable self driven free roaming commands.

Try to remember this was in the days that a self driving car was still in the realm of science fiction and there they were making consumer level robot companions play autonomous football. Quite an achievement really.

The blue battery next to this pup was made exclusively for the ERS-1100. Not much is known about it or what exactly makes it different from a normal first generation AIBO battery other than the labels and color being different, but these batteries are as hard to find secondhand as the robots that use them.



The ERS-2100 is a developer revision of the ERS-210 used in RoboCup competition.



  • 1History
  • 2Function


The ERS-2100 predated the creation of the ERS-210, although the timeframe is unknown. The robots were confirmed to be used during the 2001 RoboCup 4 Legged League. Currently, to our knowledge there are no working ERS-2100 robots present in the community.

If anyone has one I would be willing to try to repair it even if it has broken parts as I can try to reproduce the broken items using our single item manufacturing processes.  We also have full logic repair technologies to try to repair any logic board problems.


The ERS-2100 is almost entirely unique in it's construction- the modules that make up the model are incompatible with the ERS-210 components, predating their conception and production. The CPU handles 200 million MIPS in comparison to the ERS-210's 100 million. It housed 32MB of memory rather than 16.

Sony Announces Sale of 2nd Generation Autonomous Entertainment Robot "AIBO" [ERS-210] ( from the aibo wiki)
- With Additional Advanced Features to Increase Interaction.

"AIBO"Entertainment Robot,model[ERS-210]

(Tokyo, Japan) - Sony Corporation today announced that following on from the sale of the first ever autonomous entertainment robot AIBO [ERS-110], they will introduce a 2nd Generation "AIBO" [ERS-210] that has a greater ability to express emotion for more intimate communication with people. Order taking will start from November 16 and there will be no restriction on the number of units produced or the time period for orders: all customers ordering "AIBO" [ERS-210] will be able to purchase a unit.

Product Name Orders Delivery Price
Autonomous Entertainment Robot "AIBO"
Color: gold, silver, black
* choose from three color variations
* Autonomous application software sold separately
November 16
150,000 yen
Excluding tax

The new [ERS-210] has additional movement in both ears and an increased number of LED (face x 4, tail x 2) and touch sensors (head, chin, back) which means that it can show an abundant array of emotions such as "joy" and "anger". In order to increase interaction with people, the [ERS-110] series most distinctive feature, its autonomous robot technology (reacting to external stimulus and making its own judgements) that allows AIBO to learn and mature, has been enhanced. It will now include features frequently requested by AIBO owners such as a Name Recording Function (recognizes its own name), Voice Recognition (recognizes simple words) and Photo Taking.

The technologies that allow the [ERS-210] to communicate, such as the autonomous feature which gives AIBO the ability to learn and mature plus the voice recognition technologies etc. will be available on a special flash memory AIBO Memory Stick software application (Autonomous AIBO-ware) called "AIBO Life" [ERF-210AW01] (*sold separately). So that people can enjoy using AIBO in a variety of new ways an additional two application software (AIBO-ware), "Hello AIBO! Type A" [ERF-210AW02] demonstration software and "Party Mascot" [ERF-210AW03] game software (*both sold separately), are also being introduced. A new line-up of AIBO accessories such as a carrying case and software that enables owners to perform simple edits to AIBO's movements and tonal sounds on a home PC will also be offered to personalize the way owners can enjoy interacting with their AIBO.

Similar to previous AIBO product offerings orders will be accepted by the Internet and telephone, in addition orders will also be accepted for the first time at various retail outlets to allow people to actually experience the product first-hand and understand the charm of AIBO. The stores (department stores, Sony Plaza etc.) have agreed to set up special in-store "AIBO Shops" to display the product and give customers the chance to experience AIBO. Product delivery is planned to start from early December.

The AIBO [ERS-210] will also be available in the US (US $1,500 excluding tax) and Europe*(Euro 1,500 excluding VAT) with the start of order taking coinciding with Japan on November 16 and product delivery planned for early December.

This year on August 1, with the aim of developing a genuine entertainment robot business, the ER Business Division became a separate "Entertainment Robot Company" (ERC) within Sony Corporation. In the future Sony is not solely interested in testing the market and developing the technology for entertainment robots, but is committing itself to establishing and expanding the consumer market for entertainment robots.

(*) Sales of AIBO [ERS-210] are planned for- Austria, Greece, Denmark, Finland, France, Germany, Ireland, Italy, Luxembourg, Portugal, Spain, Switzerland, the UK, Belgium, Holland, Sweden, Norway.

Main Features of "AIBO" [ERS-210]

1) 3 Different Color Variations
The [ERS-210] is available in three color variations (silver, gold and black) so customers can choose the one that suits them best.

2) Autonomous Robot AIBO - actions based on own judgement
When used with Memory Stick application (AIBO-ware) "AIBO Life" (*sold separately) [ERF-210AW01] AIBO acts as a fully autonomous robot and can make independent decisions about its own actions and behavior. AIBO grows up with abundant individuality by interacting with its environment and communicating with people by responding to its own instincts such as "the desire to play with people" and "the desire to look for the objects it loves".

3) Enhanced Features to Express Emotions
When used in conjunction with "AIBO Life" (*sold separately) AIBO [ERS-210] owners can enjoy the following features to their full capacity:

(1) Touch Sensors on the head, chin and back
In addition to the sensor on the head, new touch sensors have been added to the back and under the chin for more intimate interaction with people.
(2) 20 Degrees of Freedom
A greater variety of expressions due to an increase in the degrees of freedom of movement from 18 on the [ERS-110] and [ERS-111] (mouth x 1, head x 3, tail x 2, leg x3 per leg) to 20 degrees of freedom with new movement added to the ears on the AIBO [ERS-210].
(3) LED on the Tail
In addition to LED (light-emitting diodes) on the face, LED have been added to the tail. A total of 4 LED on the face (expressing emotions such as "joy" "anger") plus 2 on the tail (expressing emotions like "anxiety" "agitation") allows AIBO to express a greater variety of emotions.
4) Enhanced Communication Ability with New Advanced Features
When used in conjunction with "AIBO Life" (*sold separately) AIBO [ERS-210] has the following features:

(1) Personalized Name (name recording & recognition):
Owners can record their own personal name for "AIBO" and it will respond to this name by actions and emitting a special electronic sound.
(2) Word Recognition (voice recognition function):
Depends on AIBO's level of development and maturity. The number of words and numbers AIBO can recognize will change as it grows up until it can recognize about 50 simple words. In response to the words it recognizes AIBO will perform a variety of actions and emit electronic sounds.
(3) Response to Intonation of Speech (synthetic AIBO language):
When spoken to, "AIBO" can imitate the intonation (musical scale) of the words it hears by using its own "AIBO language" (tonal electronic language).
5) Photo Taking Function
If used in conjunction with "AIBO Life" and "AIBO Fun Pack" software applications (*both sold separately) AIBO will take a photograph of what it can see using a special color camera when it hears someone say Take a photo. Using "AIBO Fun Pack" software [ERF-PC01] photographs taken by AIBO can be seen on a home PC screen.

6) Wireless LAN Card
By purchasing a separate IEEE802.11b "AIBO Wireless LAN Card" [ERA-201D1], inserting it into a PC card slot and using "AIBO Master Studio" software (*sold separately) the movements and sounds AIBO makes can be created on a home PC and sent wirelessly to control AIBO's movements.

7) Other Features
* Open-R ver 1.1 architecture
* Uses Sony's original real-time OS "Aperios"
* The head and legs can be removed from the body and changed.

* Entertainment Robots "AIBO" [ERS-210] Main Features

CPU 64 bit RISC Processor
Internal Memory 32 Mega-bite
External Memory/Program Storage AIBO-ware Memory Stick (sold separately)
Moveable Parts Mouth : 1 degree of freedom
Head : 3 degrees of freedom
Leg : 3 degrees of freedom x 4
Ear : 1 degrees of freedom x 2
Tail : 2 degrees of freedom
Total : 20 degrees of freedom
Input/Output PC Card slot : In/Out
Memory Stick Slot In/Out
AC IN Power Supply connector Input
Image Input 1/6 inch CMOS Image sensor
Audio Input Stereo Microphone
Audio Output Speaker
Built-in Sensors Temperature Sensor
Infrared Distance Sensor
Acceleration Sensor
Touch sensors (head) Switch( back, chin & back of legs)
Vibration Sensor
Built in clock Date & Time
Power Consumption Approx. 9W (Standard operation in autonomous mode)
Operating Time Approx. 1.5 (Standard operation in autonomous mode using fully charged ERA-201B1 battery)
(width x height x length)
152 x 281 x250 (not including the ears & tail)
Weighte Approx. 1.5Kg (Including battery & memory stick)
Colore Gold/Silver/Black
Supplied Accessoriese AC Adapter, Lithium Ion Battery Pack ERA-201B1 (x 1), AC Adapter, Manual, Pink Ball
Operating Temperaturee 5-C-35-C
Operating Humiditye 10%-80%

* Memory Stick Application (AIBO-ware) Sold Separately

  • Autonomous AIBO-ware "AIBO Life" for [ERS-210]
    [ERF-210AW01] (Price 9,000 yen excluding tax)
    Allows AIBO to interact autonomously - learns and matures, remembers own name, voice recognition etc.

  • Demonstration AIBO-ware "Hello AIBO! Type A" for [ERS-210]
    [ERF-210AW02] (Price 8,000 yen excluding tax)
    Enjoy AIBO as a fully developed and playful adult entertainment robot.

  • Game AIBO-ware "Party Mascot" for [ERS-210]
    [ERF-210AW03] (Priced 9,000 yen excluding tax)
    Enjoy playing games with AIBO

* PC Application Soft Sold Separately

  • "AIBO Fun Pack" (compatible with Windows 98/Me/2000 Professional)
    [ERF-PC01] (Price 10,000 yen excluding tax) Includes CD-ROM and Manual
    Software that allows owners to create a journal of the photographs taken by AIBO and enables AIBO to be programmed to celebrate birthdays etc. Also possible to check the level of maturity AIBO has reached.

  • "AIBO Master Studio" (compatible with Windows 98/Me/2000 Professional)
    [ERF-PC02] (Price 50,000 yen) Includes CD-ROM, Programming Memory Stick and Manual.
    Edit simple movements and sounds for AIBO using a home PC and make original movements etc. When used in conjunction with the "AIBO Wireless LAN Card" it is possible to control AIBO movements by sending the programmed information wirelessly.

* Other Accessories

  • Energy Station (Battery Charging Unit)
    [ERA-210P1] (Price 17,000 yen excluding tax)
    When AIBO is placed on the Energy Station the battery inside is recharged. The Energy Station also has an extra charging slot so extra batteries can be recharged while AIBO in use. A liquid crystal display informs owners on the status of the batteries and can be used to set the correct time on a clock inside AIBO and the volume level of the sounds AIBO makes.

  • AC Adapter
    [ERA-201P1] (Price 10,000 yen excluding tax)

  • Lithium Ion Battery Pack
    [ERA-201B1] (Price 9,000 yen excluding tax)

  • AIBO Carrying Bag
    [ERA-201C1] (Price 15,000 yen excluding tax)
    3 color variations (pink, blue, black)

  • AIBO Programming Memory Stick (8MB)
    [ERA-MS008] (Price 3,400 yen excluding tax)
    Necessary for transferring movements programmed for AIBO created by "AIBO Master Studio".

  • AIBO Wireless LAN Card
    [ERA-201D1 (Price 20,000 yen excluding tax)
    IEEE802.11b standard AIBO Wireless LAN Card allows movements created by "AIBO Master Studio" to be sent wireless to AIBO [ERS-210].

* Order Taking & Sales Information

  • Order Taking to begin from November 16, 2000 (Thurs.) from 10 am
  • Products will be manufactured and sold to fill all orders
  • There are no limits on the number of units and the order period
  • Only people resident in Japan may order products in Japan


"AIBO" Home Page http://www.aibo.com *this link is no longer active and a revised page does not exist.
* Starts from November 16, 2000 (Thursday) from 10 am (24 hours).

When ordering from mobile phone & PHS 03-5470-0666
*From November 16, 2000 (Thursday)
* Everyday (incl. Sat & Sun) from 10 am to 6 pm
* Closed from Dec. 30 to Jan. 3

[Retail Outlets - 'AIBO Shop']
From November 16, 2000 some department stores and Sony Plaza etc. will create an 'AIBO shop' to display the product and accept orders.

* Planned Display of the Product

  • Sony Building (Ginza, Tokyo) Beginning of November, 2000
  • Sony Tower (Shinsaibashi, Osaka) Beginning of November, 2000
  • PC EXPO (Tokyo Big Site, Tokyo) 17 - 21 October, 2000
  • ROBODEX (Yokohama Pacifico, Kanagawa) 24 - 26 November, 2000

* Renewal of AIBO Home Page

See the latest information about the new AIBO [ERS-210] from 4pm today (JST) on the renewed AIBO Home Page http://www.aibo.com *this link is no longer active and a revised page does not exist.

* AIBO History

* June 1998 Announcement of entertainment robot architecture [Open-R]
* June 1999 Sale of first ever home entertainment robot [ERS-110].
(3,000 units sold in Japan & 2,000 in the USA: Total 5,000)
* Nov. 1999 Sale of Special Edition [ERS-111]
(Total 10,000 units sold in Japan, the US and Europe)
* Feb. 2000 Sale of same [ERS-111]
(Total 30,000 units sold in Japan, the US and Europe)

* "AIBO" and the "AIBO logo", "Memory Stick", "OPEN-R" are registered Sony trademarks.
* Windows(R) 98/2000/Me are registered trademarks of Microsoft Corporation in the US and in other countries.
* Other product names are the registered trademarks of the relevant companies


AIBO becomes Sony mascot

AIBO, or Artificial Intelligent Robot, has been a media darling since its introduction in the autumn of 1999. Throughout Sony Europe’s 2002 advertising campaign, consumers have seen the AIBO ERS-210 model engaging with Sony products from WEGA televisions, VAIO PCs and DVD players to digital still cameras, Handycams and Walkmans. Sony Europe is encouraged by the simplicity of the advertising - it is all about Sony products. AIBO allows for a synergy across the different product businesses as well as adding charm and character through its engagement and interaction with products.

The main aim behind introducing AIBO as the star of Sony Europe’s advertising is to provide an integrated advertising approach. This approach provides a good balance between brand awareness and product advertising. Research has shown that AIBO performs well at representing what the consumers expect from Sony – cutting-edge technology, innovation, entertainment and fun.



One simple idea was needed to represent the entire range of products. Using AIBO as a ‘marque’ throughout the advertising campaigns strengthens the Sony brand in consumers’ minds. Simultaneously, AIBO showcases Sony key products.

The television campaign was launched with two commercials in May 2002; one for the WEGA Theatre, Sony’s home entertainment systems, and the other for Net MD Walkman.

Sony is also using AIBO as a mascot in print, outdoor, cinema and online advertising. This new campaign has given the Sony brand a unique look and feel – providing the ‘standout’ the Sony products truly deserve. This campaign is an integral part of the existing ‘Go Create’ strategy that emphasizes connectivity and creativity in using Sony products to help make people’s lives more enjoyable.

This first wave of AIBO commercials has enjoyed significant success. Surveys carried out in the aftermath of the commercials have confirmed the expectations that were based on pre-campaign research. The surveys were designed to assess the impact AIBO was having on the advertising campaigns as well as to measure AIBO awareness and perceptions. The majority of respondents, 88%, knew AIBO. A large proportion of those respondents got to know the friendly entertainment robot from his presence on television, followed by a smaller proportion that met AIBO on the Internet. AIBO is associated with expressions including ‘full of high-tech functions’, ‘suitable to Sony’, ‘exclusive’ and ‘fascinating’.

Overall, AIBO had a welcomed impact on the advertising campaign. The best results were recorded by the WEGA Theatre campaign, where survey respondents were very



enthusiastic about the television commercial and the print adverts. The Sony Net MD Walkman and the other products of the campaign closely matched these promising results.

The next advertising campaign will span the run up to Christmas, with a debut set for October 2002. A similar concept will be used to advertise the range of Sony products, once again using AIBO to showcase their advantages.


Sony really broke the mould when it realised the first Aibo back in 1999.

Aibo DHS or Droopy Head Syndrome (alternately known as Dropping Head Syndrome) is a behaviour that is characterised by the head of the Aibo uncontrollably dropping when passing past the midway point of downward travel in the neck joint.  This problem is caused by a design flaw in the servo mechanism that controls the head's neck joint.

The same servo's are used for the tilt axis and the pan axis, similar problems are known to occur in these joints also.

The design flaw is where the manufacturer of the servo (let's say Sony for arguments sake) utilised a very compact method of preventing damage to the gearing system used inside the servo when shocks impact the head or the heads movement is restricted.  To enable such a tiny unit (Aibo is very compact after all) the unit uses a planetary gearing system with multiple drop down stages to amplify the torque that the motor puts out to enable it to move the head joints relatively quickly and smoothly.  The side effect of this is that if the head is jammed or stopped from moving (say perhaps from a child holding onto it) this would cause the motor to have a high chance of causing itself or it's gearbox some irreparable damage.  In practice this never seemed to be the problem as the method used was a plastic insert in-between a bell housing and an internal spinner shaft that was designed to create enough friction to spin both parts at the same time but allow slippage if needed.

Unfortunately it didn't quite work out that way and the insert became worn far too quickly and caused slippage well before the initial warranty period of 1 year had elapsed in most cases.  What was even more unfortunate was that this same part seemed to become brittle with age so even new in box units that had been untouched for many years could come straight out of the box and exhibit symptoms of DHS,PAS or TAS straight away without any prior use.

As time went on the spares supply dwindled to the point where there were almost no spare head assemblies left available and other solutions needed to be found.

One such method utilised a small pin inserted between all three components literally fusing the assemblies together.

I wasn't happy with this method as I felt it caused undue stress on the shaft assembly and a high likelihood of allowing irreparable damage and as such I developed my own method which to date has never failed and doesn't weaken the shaft at all.  It also incorporates a failure point should the head be knocked violently.  Without this failure point a pinned servo slipper clutch gearbox would literally destroy itself as all the gears inside it are plastic.

From time to time I have come across modified servos that have done exactly this as they have stripped the teeth off all 3 planetary gears that act on the outer casing of the gearbox.  This particular problem was very time consuming to fix as I had to try to source replacement gears (which I couldn't) and in the end manufacture my own replacements to bring these poor pups back to life.

Needless to say when it comes to the DHS,PAS,TAS three amigos I know all there is to know about repairing them.