# An Exploration of the Pepper Robot's Capabilities: Unveiling Its Potential
## 3 Methodology
### Mapping and Navigation  
The SLAM functionality of Pepper has a main module, ALNavigation, with two components--API Exploration and API Navigation. Exploration API uses [PERSON]'s odometry and lasers to perform SLAM. For this purpose, the only parameter that needs to be specified is the radius of the desired area to be explored. Within that radius, [PERSON] starts moving and mapping the surroundings, which generates a safety map in the form of a tridimensional array of values (X, Y, Obs). Pepper's coordinate system is illustrated in Figure 2. The first two values in the array correspond to the spatial coordinates (X, Y) of the area that was explored, whereas the third value (Obs) indicates the presence (1) or absence (0) of an obstacle. [PERSON]'s starting point will be located as the coordinate (0,0), orientation of the coordinates X and Y will be defined, taking into consideration [PERSON]'s initial orientation (before the exploration starts). This array can be used to generate an image that corresponds to the mapped area. \begin{table}
\begin{tabular}{c c c} \hline \hline
**Functionality** & **Services Used** & **Purpose of the Service Used** \\ \hline Mapping and Navigation & ALNavigation module—API Exploration and API Navigation & Exploration \\  & & \begin{tabular}{c} Exploration API [29] is used for [PERSON]’s \\ odometry and lasers to perform SLAM. \\ Navigation API allows [PERSON] to self-locate and \\ move in safe trajectories based on an obstacles \\ map of the near environment. \\ \end{tabular} \\ \hline Speech & ALDialog, ALMotion, ALRobotPosture & \begin{tabular}{c} ALDialog service [29] is used to explore [PERSON]’s \\ speech capabilities and conversational skills, \\ using a list of written and categorized rules. \\ ALMotion service [29] controls the gesture and \\ posture of [PERSON]. ALRobotPosture [29] traces the posture of pepper. \\ \end{tabular} \\ \hline Hearing & ALBasicAwareness, ALMemory, \\  & ALMotion, ALSOundLocalization & \begin{tabular}{c} Basic awareness enables the robot to know the stimuli from its surrounding environment. \\ ALMemory and ALSOundLocalization [29] are \\ used to subscribe to the events of sound located \\ and sound. \\ \end{tabular} \\ \hline Object Detection & Choreographe and \\  & ALLandMarkDetection vision module & \
\begin{tabular}{c} ALLandMarkDetection [24] is a vision module in \\ which the robot recognizes special landmarks \\ with specific patterns called NAOMarks. \\ Choreographe [30] is a GUI platform for working \\ with Pepper. \\ \end{tabular} \\ \hline Face Detection & Choreographe and LearnFace module &
\begin{tabular}{c} LearnFace: Integrated command of \\ Choreographe with which Pepper saves a user’s \\ face into its memory. \\ \end{tabular} \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Services used to implement different functionalities of Pepper. Navigation API allows [PERSON] to self-locate and move in safe trajectories based on an obstacles map of the near environment (also called Safety Map) instead of direct obstacle avoidance using sensors. The function to perform the navigation is called move to () and can receive as parameters a desired point in the map using its coordinates X and Y and the value \(\theta\), which corresponds to the desired final orientation. To test mapping and navigation functions, the experiment was conducted with [PERSON] in an 8 \(\times\) 8 m room. The room had obstacles, such as desks and chairs next to the walls, one pole in the middle, and a chair that was placed about 2 m in front of [PERSON]. Figure 3 presents the initial setup of the laboratory where the experiment was conducted. The purpose of each test is to evaluate [PERSON]'s navigation after the exploration function was performed. Both exploration and navigation were completed three times to compare results. The exploration radius was specified as 4 m. A mark was painted to ensure [PERSON] would start in the same position and orientation. Three tests were conducted with the same light conditions inside a quiet and controlled room.