Tutorial <8>: Moving Pepper

In this tutorial, you will learn the movement of Pepper, focusing on the specifications and control method of Pepper's foot.

  1. Each drive systems, sensor specifications

  2. Simple movement

  3. Movement by orbit

Each drive systems, sensor specifications

Pepper moves around with wheels and it has various sensors around its foot area, which prevent collisions with the surroundings.

  1. Wheels (WheelFR [A], WheelFL [B], WheelB [C])

  2. Bumper (BumperFR [D], BumperFL [E], BumperB [F])

  3. Sonar (SonarF [G], SonarB [H])

  4. Lazor sensor ([I], [J], [K])

  5. Lazor actuator (Shovel [L], Vertical right [M], Vertical left [N], Front [O], Left [P], Right [Q]

There is absolutely no need for developers to know in detail about each of these drivers and sensors. The value of each sensor is processed automatically by the robot, and it is used for safety and more abstract event processing, and the driving system runs appropriately according to the information of the given trajectory.

Simple movement

The easiest way to create the movement is to use the Move To box.

Pepper can be moved by specifying the X, Y, Theta values of MoveTo box parameters.

In this tutorial, we will make Pepper process auditory input "front", "back", "left", "left", "right" and move to the corresponding direction, and rotate with the input "Clockwise" and "Counter clockwise". The application terminates when Pepper hears "End", with Pepper responding back "See you later".

Although you may have already seen it in tutorial (3), Pepper has a safety mechanism that it does not move if there is an obstacle. For confirmation of the movement, we will make Pepper say if the movement has been made successfully using the “Say” box.

Create Application

  1. Prepare the boxes

  • Speech > Creation > Speech Reco.

  • Programming > Logic > Switch case

  • Movement > Navigation > Move to x6

  • Speech > Creation > Say x3