SoftBank Pepper User manual

4
Charging Pepper
13
Choosing the
environment
13
Moving Pepper
8
What’s in the box
26
Support
11
Pins
6
Who is Pepper
7
Overview
Turning
Pepper OFF
17
Operating Pepper
16
Turning
Pepper ON
14
17
Using the Stop
Button
18
Taking care of
Pepper
25
Technical
information
15
Interacting with
Pepper
9
Unboxing Pepper
19
Reboxing Pepper
21
Safety
12

5
Information
Please read this document carefully before using Pepper (hereinafter referred to as
‘‘Pepper’’, ’’the robot’’ or ‘‘he’’). Keep this document after reading for future reference.
This robot is a device that moves on its own, mishandling can lead to accidents or injury.
The latest version of this document is available online at:
www.softbankrobotics.com/support
AP990236 (Pepper 1.8) - 2019.04
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IMPORTANT: It is strongly recommended that people handling the robot follow these
guidelines and the safety guidelines for their personal safety. NOT DOING SO MAY LEAD
YOU TO VOID THE WARRANTY OF PEPPER OR THE BATTERY CHARGER. The guidelines
will help you protect the robot, the battery charger and their working environment from
damage.
This documentation also covers disposal, recycling, and technical information but does not
cover all possible conditions that may occur.
At all times, remember that safety to Humans always comes first, safety to Robots always
comes second. Always follow installation and service instructions closely, and store them
for safekeeping.
Pepper is not intended for use by children, or any person with reduced physical, emotional,
sensory or mental capabilities, or lack of experience and knowledge unless either:
* children under 14 years old are supervised by a person responsible for their safety, and
who has read and understood the instructions.
OR
* children 14 years old and above have been given instructions concerning its use in a safe
way and understand the hazards involved.
Other children should be suitably supervised to ensure that they do not play with Pepper.

Introduced in 2014, Pepper is the world’s first social humanoid robot, designed to
engage and intuitively interact with people.
Icebreaker
Thanks to his numerous sensors, Pepper
detects people in his environment and
attracts their attention, initiating
interaction by voice or by proactively going
towards people to start a conversation.
Attractive
With an optimal size of 120cm (4ft) tall, an
eye-catching appearance and humanoid
behaviour, Pepper immediately stands out
in a crowd, effortlessly attracting
undivided attention and creating an
emotional connection with people.
Customisable
As an advanced programmable platform,
Pepper offers infinite possibilities to
enrich user experiences allowing him to
be deployed in different sectors such as
Retail, Banking, Travel, Workspace,
Government and Public services,
Healthcare and Education.
Connected
Pepper provides an
experience using various cloud
services and databases expanding
his technical capabilities, such as
cognitive computing, real-time
communication and data collection,
to provide more services.
Easily accepted
Friendly, safe and unprejudiced
Pepper always succeeds in making
the communication enjoyable and
the experience memorable.
Enjoy the company of your new friend!
Who is Pepper
6

Microphone
Pins (see p. 11)
Speaker
Camera
* optional
The usage of the Plates requires a specific NAOqi version.
Overview
7
Soft Cover
and Stop Button
Shoulder LEDs
Charging Flap
Chest Button
360° Plate*
180° Plate*
Pepper
Pepper with
360° Plate
Pepper with
180° Plate
Pepper is available with
three different options.
The difference does not have
any impact on the basic use
of the robot.
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User Guide
Certification Leaflet
What’s in the box
8
User Guide
Battery Charger*
with AC cord
* Two battery chargers models available.
If something is missing, please contact Support at:
www.softbankrobotics.com/support
Hip Pin
Knee Pin

Unboxing Pepper
9
1
2
Pull the
ramp out.
Keep the box
and
protections.
You will need
them to store
Pepper. 3
Pepper is heavy! Be careful when handling the robot.
KG
Place your hands under Pepper’s arms, and slowly lift Pepper out.
4
5

10
Unboxing Pepper
Remove the tape and all protections.
6
Remove the Pins.
7
Snap!
Unlock the Stop Button then close the Soft Cover.
9
Open the Soft Cover and store the Pins in
their respective slots.
8
For more information,
see p.11.
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Pepper might be unstable and fall
if not put in the right posture.
!
Safe Posture Wrong posture

11
Using the Pins
Don’t forget to
store the Pins
after use.
Do not insert the Pins when
Pepper is ON.
!
Pins inserted Pins removed
Knee and hip joints
move freely.
Knee and hip joints
are locked.
Only insert the Pins when:
• cleaning Pepper.
• reboxing Pepper.
• putting Pepper in Safe Posture.
Storing the Pins
Using the Pins
2
Only when Pepper is OFF:
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1
Click!

12
Charging Pepper
Pepper is charging.
Pepper is fully charged.
ALDE410004 Battery Charger
Pepper is charging.
Pepper is fully charged.
The battery charger is plugged.
T0000001 Battery Charger
Remove the plastic film from the battery charger.
1
2 3
Click!
Please note there are two different Battery Chargers. The LEDs behaviour varies
with the battery charger model. You can find out the model of the battery charger on
the case.
CUSTOMER P/N: ALDE410004 Version: E00
Charging time ~8h
Battery life 7~20h
Depending on use
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13
Choosing the location
Moving Pepper
90 cm
Ensure there is at least
90 cm (~35.4 inches)
around Pepper.
2
Place one hand on the
shoulder and the other
on the hip.
2
Carefully roll Pepper
to his new location.
3
Ensure there are no
slope or stairs around
Pepper.
3
Open the Charging
Flap to release the
brakes.
1
Ensure Pepper is on a
smooth and flat surface.
Avoid carpets or rugs.
1
Ensure the new location complies with Pepper’s use conditions.
For more information, please refer to Safety (p.21).

14
Turning Pepper ON
Pepper’s configuration can vary according to the
software version of the robot.
Ognak
Gnuk!
Click!
Press the Chest Button once and wait.
Follow the procedure on the Tablet to configure Pepper.
~2 minutes
Turning Pepper ON
Setting Pepper up for the first time
Once the configuration is done, your Pepper is ready to use!
For more information
(access the parameters, manage the content, develop apps, and more), visit:
www.softbankrobotics.com/support
and your reseller’s documentation.
After standing up, Pepper is ON but not ready yet for interaction. He is
ready once:
• Pepper has checked his surroundings,
• the eyes are white.
2
Before turning Pepper ON, ensure:
- the location is appropriate (p.13),
- the Stop Button is unlocked (p.17),
- the Pins are removed (p.11).
1
Snap!
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15
Interacting with Pepper
Listening to notifications
Pepper is listening when:
- Pepper looks at you.
- Do not speak at the same time.
- Use short sentences.
- Do not speak too fast!
Talking with Pepper
The Shoulder LEDs notify the user of new information. The color of the notifications
indicates the type of information. Notifications disappear once the issue is solved.
Check if the Shoulder LEDs are blinking.
1Briefly press the Chest
Button once to listen to the
notification.
2
If the Shoulder LEDs are yellow or red, Pepper may have an issue.
If needed, contact Support (p.26).
3
Pepper’s hearing area is narrow.
Keep eye-contact when interacting
with Pepper.
Pepper is not able to talk unless the
appropriate software is installed (p.14).
Click!
...
Information
Warning
Error
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16
Operating Pepper
Sleep Mode
In Sleep mode, Pepper does not speak or move around.
When touching the head, Pepper will wake up, stand up and look around.
Standing Posture Safe Posture
Zzzz
Rest Mode
In Rest Mode, all activities are stopped and all motors are turned off: Pepper will not speak
or move.
Standing Posture Safe Posture
Click!
Click!
*sigh*
Touch the head to
exit Sleep Mode.
Place your hand on
the front camera and
the top of the head
for 3 seconds.
Press the Chest Button twice quickly to
activate or disactivate Rest Mode.

17
Turning Pepper OFF
Gnuk
Gnuk!
~1 minute
Turning Pepper OFF using the Chest Button
Standing Posture Safe Posture
Hold
~4 seconds
Turning Pepper OFF using the Stop Button
You can push the Stop Button through the Soft Cover.
For security:
• When Pepper is turned OFF
• When Pepper is in his box and/or stored
• When cleaning
In case of emergency when Pepper is ON, for example:
• Liquid spill
• Pepper has fallen
• Unexpected physical behaviour
Unlocking the Stop Button
Snap!
12
If the Stop Button is pushed down,
unlock it before turning Pepper ON
then carefully close the soft cover.
Forced switch OFF: If Pepper doesn’t react or doesn’t turn OFF normally (as shown
above), press the Chest Button until Pepper turns OFF.

18
Taking care of and storing Pepper
If needed you can
insert the Pins.
(see p.11)
Use a soft dry cloth or
cleaning wipes.
Do not use water.
Do not use alcohol
or ammonia-based
products.
Cleaning Pepper
Storing Pepper
1. Turn Pepper OFF.
2. Press the Stop Button.
3. Fully charge Pepper.
4. DO NOT insert the Pins otherwise Pepper might fall.
5. Ensure the storage location complies with safety recommendations (see
Safety p.21).
If you still have the box, use it to store Pepper.
For long storage, charge Pepper at least
once every three months otherwise the
battery will become unusable.
!
Make sure Pepper is turned
OFF and unplugged, and that
the Stop Button is pushed down
when cleaning.
!
Click!

19
Reboxing Pepper
6
Bring Pepper in front of the box, and make sure
the Charging Flap is closed.
Remove the Pins from their storage and
insert them in their respective slots.
5B
A
Putting Pepper in the box
Pepper must be
switched OFF and the
Stop Button pushed.
1
4
2
3
Be careful when the
Pins are
inserted, Pepper’s
knee and hip will
move freely.
!
Click!

20
Lift Pepper to the
Standing Posture while
pushing him into the box.
Reboxing Pepper
Adjusting Pepper in his box
10
9
7
11 Close the box with strong tape.
12
Be careful, Pepper could be unstable.
!
Carefully bring the box to the floor.
8
Battery
charger

21
Safety Information
IMPORTANT: It is strongly recommended that users follow these safety guidelines for their
personal safety, not doing so may lead to void the warranty of Pepper or the battery charger.
General
This Pocket Guide and the accompanying certification leaflet are provided in the box with Pepper.
They have important and regulatory information.
These documents must be kept with Pepper during the entire robot’s life.
The guidelines will help you protect the robot, the battery charger and their working environment
from damage. Always follow installation and service instructions closely.
At all times remember that safety to human beings always comes first.
The documentation also covers disposal and recycling information.
These safety instructions do not cover all possible situations that may occur. When in doubt,
contact SoftBank Robotics Support: www.softbankrobotics.com/support
Never attempt to service the robot yourself and/or its power supply (including disassembling and removing
the casing). Spare parts are not sold.
Turn off Pepper, unplug the battery charger and contact Support in any of the following cases:
• The power cord or the charger is worn.
• The charger has been damaged.
• There is mechanical damage to Pepper.
• Liquid has gone inside Pepper’s casing.
• There is smoke or an unusual smell coming from Pepper.
• Pepper does not seem to work properly.
Location
Pepper is designed for indoor use only. Do not use the robot outside.
Pepper’s operating humidity range must not exceed 80%.
Supervision
Pepper is not intended for use by children, or by people with reduced
physical, sensory or mental capabilities, or lack of experience and
knowledge.
Children under 14 years old must be supervised by a person responsible for
the child’s safety and who has read and understood these instructions.
Children 14 years old and over must be given instructions concerning the
use of the robot in a safe way and understand the hazards involved.
Keep packing material away from children.
In a public environment, the robot must not be within reach of children. Do
not leave the robot with children, even when switched off.
The robot is heavy! If a child destabilizes Pepper, it could fall and hurt him.

22
Neck Arm Elbow Hip Knee
Safety Information
Fire Hazard
Pepper contains some electrical and internal units which can be hot during normal use.
To avoid risk of fire, take the following precautions:
• The user is responsible for having an electrical installation that complies with local
standards.
• Use only the power cord supplied by SoftBank Robotics with Pepper.
• Do not use the battery charger and/or power cable if they show signs of damage or excessive
wear.
• Do not use the power cord with other products.
• Do not insert anything in Pepper’s casing.
• Take care not to spill any liquid on Pepper. If in doubt, do not use.
• Make sure all components are thoroughly dry before using Pepper again.
• Do not attempt to dry the robot with an external heat source such as a hair dryer.
• Do not use aerosol products that contain flammable gases around Pepper.
• Do not operate Pepper in an explosive atmosphere.
• Pepper’s operating temperature must be between 5 °C and 35 °C (41 °F to 95 °F).
• Do not use the battery charger if the room temperature is above 40 °C (104 °F).
Never dress the robot up, that could obstruct Pepper air vents, cover
the detection sensors and may prevent the articulations from working
correctly.
Do not put anything on the head, including any kind of hat, cap, or wig
as they may increase the robot’s operating temperature which can lead
to an unexpected shutdown or damage the robot.
Do not put any glasses (fake or not), eye patch, on its head, or any kind
of clothing accessory whatsoever on the robot.
Mechanical hazard
Do not destabilize Pepper, the robot is heavy and could fall and hurt you.
Pepper has moving parts that could cause pinching and potentially serious injuries.
Take the following precautions when working close to Pepper:
• In normal situations, avoid carrying and touching the robot when it is moving,
walking or getting up.
• Do not place your hands on any of the robot’s joints, especially as shown in the
pictures.
• Do not walk too close to the wheels, as Pepper may run over your toes.
• If Pepper is equipped with the 180° plate or the 360° plate, the robot can move with this
optional equipment. Do not walk on the plate and do not place your feet in front of the plate.

23
Laser and infrared information
• Lasers and infrared sensors help Pepper to interact safely with its environment.
• Warning (class 1M lasers): Invisible laser radiation. Do not view directly with optical
instruments (for example eye loupes, magnifiers and microscopes) within a distance of a 100
mm, it can cause permanent eye damage.
• Caution: Use of controls or adjustments or performance of procedures other than those
specified herein may result in hazardous radiation exposure.
• There are six embedded class 1M lasers (A to F) and two infrared diodes (G and H).
• The class 1M lasers are certified under IEC60825-1:2007 (wavelength: 808 nm; maximum
accessible radiant power: <9 mW; pulse duration: <15 ms).
• The infrared diodes are classified in EXEMPT group according to standard IEC62471 edition 1.
• For more information about the lasers, please refer to the chapter entitled “Pepper sensor
ranges”
Pepper sensor ranges
Pepper can detect objects around it using various built-in sensors. However there are exceptional
areas which Pepper cannot cover. Do not place any object in those areas.
Environmental hazard
• Pepper and its lithium-ion battery have been designed, manufactured and
quality-controlled according to international environmental regulations.
• Please do not dispose of your product in everyday waste.
• In order to protect human health and the environment, we recommend handing
over your waste equipment to a designated collection point.
• For more information, please contact your waste disposal service.
Safety Information
INVISIBLE LASER RADIATION
DO NOT VIEW DIRECTLY WITH OPTICAL
INSTRUMENTS
CLASS 1M LASER PRODUCT
18.5°
12°
11.5°
60°
18°
71°
40cm
50cm
85cm
100cm42cm
64cm
22cm27cm
45°
60°
60°
60°
60°60°
60°
30°30°
2°
2°
60°
50cm50cm
18.5°
3D SENSOR DETECTION ZONE
SONAR DETECTION ZONES
INFRARED DETECTION ZONES
LASER AND SENSOR DETECTION ZONES (HORIZONTAL)
LASER AND SENSOR DETECTION ZONES (VERTICAL)
BLIND ZONE
Note: For readability, not all sensor information is shown here.
3 cm 3 cm