Interacting with Pepper the robot with Choregraphe
- Make sure the Choregraphe version is 2.5.5. Link here.
- Open the .pml file to open the project.
- Connect to the robot.
- Make sure the robot and the PC are under the same network.
- If you connect to a virtual robot, note that the speech recognition is not supported.
- On the left there are many behavior folders. The main program is in folder behavior_main.
- Open the folder behavior_main, then the file behavior.xar.
- Run the program by hitting the green play button at the top.
---INTRO---
🧑 Human: Hi Pepper, can you help me?
🤖 Pepper: Hello, of course. How can I help you today? // Pepper recognizes the phrase "help me"
🧑 Human: WoW, is super busy today ...
---WALK---
🧑 Human: Walk with me, Pepper.
🤖 Pepper: (Walk forwards) // Pepper recognizes the word "walk"
---OUTRO---
...
🧑 Human: Which shoes fit well together with the dress, coat and trousers I chose?
🤖 Pepper: Mmm. I am afraid, I cannot help you with this. Let me call an expert for help. // Pepper recognizes the phrase "coat and trousers"
There are certain parameters that you can change in the diagram according to your wish.
- The words that trigger Pepper's recognition:
On each SpeechRecognition box, click the wrench icon at the bottom left. There you can input the words that you want Pepper to recognize. (use semicolon to separate single words) - The texts that Pepper says:
Directly edit in the TextEdit boxs. - The trajectory that Pepper walks:
On the MoveTo box, click the wrench icon. There you can edit how far you want Pepper to move. (x being the forward direction, y the perpendicular) - The short interval before Pepper speaks:
On the Wait box, click the wrench icon. There you can tune the length of the interval.