Home · Module 3 · Pepper Robot

Meet Pepper

The humanoid you'll program with Choregraphe. Click any of the behavior blocks below — Pepper will perform them.

Choregraphe-style behaviors

Click any block — Pepper executes the behavior. Real Choregraphe lets you drag these onto a timeline.

Behavior log

[ready] Pepper.NAOqi initialized

Specs

Height1.2 m

Weight28 kg

DOF17

Battery~12 h

Sensors3D, IR, sonar, touch, mic ×4

OSNAOqi 2.5

ProgrammingChoregraphe / Python / C++

The Choregraphe pipeline

When you drag a behavior block onto Choregraphe's timeline, this is what happens under the hood:

[Choregraphe GUI]
       ↓ (generates Python)
[NAOqi API on Pepper]
       ↓
[ALMotion module]  ←  set joint angles
[ALTextToSpeech]   ←  speak phrase
[ALTracker]        ←  follow face
[ALMemory]         ←  state + events
       ↓
[Hardware: motors, speakers, microphones, cameras]

The block-based interface is a visual programming language that emits Python. Once you're comfortable, you can drop into raw Python:

from naoqi import ALProxy
tts = ALProxy("ALTextToSpeech", "pepper.local", 9559)
tts.say("Hello, welcome to the robotics lab!")

motion = ALProxy("ALMotion", "pepper.local", 9559)
motion.setAngles("LShoulderPitch", -1.2, 0.2)