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Pepper/Nao robots are referred to as a device where a particular device is compromised of sensors and actuators. Unlike working with laptops/computers, one does not need to run specific drivers for sensors and actuators in order to communicate with the SIC framework, but instead only one particular software by the name robot-installer, which is in a JAR formatused mainly for interactive flows in various scenarios, such as receptionist, Maths tutor, sleeping coach, etc.

Sensors and actuators

The following pages will provide a detailed list of sensors and actuators for Pepper and Nao robots:

  1. Pepper

  2. Nao

Running robot-installer.jar from the https://bitbucket.org/socialroboticshub/docker/src/master/sic-local/ folder automatically chooses the necessary sensors and actuators.

Dependencies

There are no external dependencies to operate this set of devices except when one wishes to test and operate the device through a laptop. In order to do so, please run robot-installer. For more details please refer to the section, How to use Laptop/Computers.

How to use

The robot-installer automatically launches a microphone, speaker, robot body, camera, and browser device. A robot’s identifier is generated based on the robot's MAC address, and should thus always be unique and consistent. The following steps will result in a successful connection between your laptop and robot:

  1. Connect to the same WiFi network as the Pepper/Nao Robot.

    • Pepper’s tablet can have a separate WiFi connection from the robot itself

    ; Pepper’s tablet settings can be opened by using the button in the program. The tablet page can also be reloaded using the second button.To then connect to a Pepper or Nao for use with the SIC framework (see Local Installation), run the ‘robot-installer.jar’ (found in the cbsr-local folder of the docker repo)

  2. Run the robot-installer.jar file by either double-clicking on it, launching ‘runrun-robot-installer.bat’ bat (Windows) or launching ‘runrun-robot-installer.sh’ sh (Linux/Mac). For this, you need to have

    • Java 8 or later is required to be installed on your machine

    .

  3. Complete the initial dialog (just press OK), click Connect on the top-left, and follow the prompts (default Nao password: ‘nao’, default Pepper password: ‘pepper’).Fill in the required fields in the pop-up box and then press “OK”

    • username: “nao”; password: “pepper” or “nao”, corresponding to the robot

    • You can inspect the log output of the various processes running on the robot using the different action tabs.

    • Pepper’s tablet settings can be opened by using the “Tablet Settings” button on the robot-installer.jar window

    • The tablet can be reloaded using the “Reload Tablet” button on the same window

  4. When done, click Disconnect “Disconnect” (always do this to prevent lingering processes).

Limitations

There are no limitations , in context to the interaction with SIC framework, observed so far.