Desarrollo de una Interfaz Multiplataforma para el Control Basado en API NAOqi del Robot Pepper

Abstract

Social robots are intended to be used for people with no special digital skills. However, some social robots such as Pepper require programming of specific software environments including Choreographe and Naoqi, making some typical tasks like shifting and communication difficult. We propose here the development of an APK and multiplatform programs (on Linux, Android & Windows) for the interface of control on real time of Pepper robot by means of an integration of Naoqi, ROS, Linux and Windows´s programs, and Android software layers. To achieve this, movement and speech functions of Naoqi API are packet on nodes and services of ROS; these ones will publish and retrieve data on Android APK through web service. Common scenarios for the robot, including conversational and choreographic exercises, are constructed to validate correctness of the software programmed, ROS architecture setup and the characteristics of robot’s responsibility. Finally, replication of built - in behaviors like greetings, body language, shifting and entertainment routines is performed by untrained users through the developed interface.