Pepper Tutorial <3>: Create poses

In this tutorial

We will explain learn how to control Pepper and the specifications of Pepper's joints through creation of various poses with the upper half of Pepper's body.

Each specification of actuator

There are some actuators for creating Pepper's poses.

  • Head: Neck (2 axis: Pitch, Yaw)

  • Arms: Shoulders (2 axis: Roll, Pitch), Elbows (2 axis: Yaw, Roll), Arms (Yaw), and Hands (Open, Close fingers)

  • Lower body: Waist (2 axis: Pitch, Roll), Knees (Pitch)

Control panel

Pose Library Pane

Pose Library pane is used for managing Pepper's poses.

If the pane is not displayed on your Choregraphe, go to [View] menu and click [Pose library].

  1. List of poses: Open context menu (Delete, Position properties, Create Folder) with right click. With double click, the robot connected with Choregraphe makes a corresponding pose.

  2. Open position library

  3. Export current position Library

  4. Add a pose: Add the current pose displayed on the robot view (virtual robot) to Pose Library.

Robot View

Robot View pane is used for checking the status of the connected robot or virtual robot as well as for handling joint movements. In addition, it also displays auxiliary information such as the position of the face recognised by the robot and the human detection range.

If the Robot view pane is not displayed on your Choregraphe, go to [View] menu and click [Robot view].

  1. Robot

  2. 3D information

  3. On / Off: 3D information

  4. On / Off: object information stored in ALWorldRepresentation.

  5. Update / not update: robot position