PePUT: A Unity Toolkit for the Social Robot Pepper

This paper introduces the Pepper Python Unity Toolkit (PePUT), a toolkit for controlling and using the social robot Pepper via Unity and Python. As toolkit components, we present implementations for the speech- and tablet-control, as well as animation and navigation, which can be directly used withi...

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Bibliographic Details
Published in2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) pp. 1012 - 1019
Main Authors Ganal, Elisabeth, Siol, Lenny, Lugrin, Birgit
Format Conference Proceeding
LanguageEnglish
Published IEEE 28.08.2023
Subjects
Animation
Licenses
Navigation
Pepper
Rapid prototyping
Research and development
social robot
Social robots
toolkit
Unity
Virtual Reality
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Summary:This paper introduces the Pepper Python Unity Toolkit (PePUT), a toolkit for controlling and using the social robot Pepper via Unity and Python. As toolkit components, we present implementations for the speech- and tablet-control, as well as animation and navigation, which can be directly used within Unity. With it, we provide the opportunity of a virtual testbed for the social robot Pepper. In addition, we highlight potential use cases for the components, in particular in a smart environment, as well as the use of PePUT as a research tool. The toolkit with the presented components and the source files are publicly available as open-source project 1 under the MIT license via GitLab for usage, replication, and extension.
ISSN:1944-9437
DOI:10.1109/RO-MAN57019.2023.10309447