PEPPER- Technical Specifications

Modified on Wed, 07 Feb 2024 at 10:23 AM

TABLE OF CONTENTS



GENERAL 


Physical information

Robot sizeSee diagrams on top
Packaging size
(HxWxL)
1400 x 580 x 580 mm
55.1 x 22.8 x 22.8 in

Weight29.6 kg / 65.2 lb Robot only
Weight including packaging

+ 0.295 kg with Plate 180°

+ 1 kg with Plate 360°

+ 1.280 kg with Accessory Plate

Working environmentWorking temperature range5 °C to 35 °C
41 °F to 140 °F 

Working humidity range20% to 80%
IP protection classIPX0

Storage conditionsStorage temperature range5 °C to 45 °C
41 °F to 113 °F

Battery use environmentRobot storage at 25°CBattery run time loss 20% / year
Self discharging 3.5% / month
Battery run timeMinimum7 hours
Typical 12 hours
Maximum 20 hours
Charging duration when the robot is off (approx. starting from low battery level)0 to 100%8 hours and 20 min


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ENERGY
Robot battery
TypeCylindrical cells

Lithium-Ion (NMC) - 18650 secondary cell model.

VoltageNominal voltage26.46 V
Minimum voltage26.46 V
Maximum charge voltage29.4 V
CurrentTypical charging current8 A
CapacityTypical capacity30 Ah
Working TemperatureCharging

10 to 35 °C

50 to 95° F


Battery charger
Input voltage range100-240 V AC
Charger input frequency of AC47 to 69 Hz
Output voltage28.6 V DC
Output max. current8 A
Cable lengthDC

1.85 m

6.1 ft

Temperature cut off

90°C

194°F


Working temperature range

5°C to 35°C

41°F to 95°F


Working humidity range80% max.
Storage temperature range

-20°C to 70°C

-4°C to 158°F


Storage humidity range5% to 95%

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 BRAIN SYSTEM 
CPU Module
ProcessorIntel ATOM® E3845 Formerly Bay Trail 
CPUQuad core 
Clock speed 1.91 GHz 
Adjusted Peak Performance (APP) 0.00344 WT 
RAM 4 GB DDR3 
Flash memory32 GB eMMC


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MOTION
Degrees of freedom UP


Head
Axis
HeadYaw-119.5° to +119.5°
- 2.09 rad to +2.09 rad

HeadPitch-40.5° to +25.5°
-0.71 rad to +0.45 rad

Arms (x2)ShoulderPitch-119.5° to +119.5°
- 2.09 rad to +2.09 rad



ShoulderRoll+0.5° to +89.5°
+0.01 rad to +1.56 rad

ElbowYaw-119.5° to +119.5°
- 2.09 rad to +2.09 rad

ElbowRoll-89.5° to -0.5°
-1.56 rad to -0.01 rad


Hands (x2)WristYaw-104.5° to +104.5°
-1.82 rad to +1.82 rad

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Degrees of freedom DOWN


Leg
Axis

HipRoll
-29.5° to +29.5°
-0.51 rad to +0.51 rad

HipPitch
-59.5° to +59.5°
-1.04 rad to +1.04 rad

KneePitch
-29.5° to +29.5°
-0.51 rad to +0.51 rad


Base
WheelFL (Front Left)

Omnidirectional mobile base on three wheels

WheelFR (Front Right)
WheelB (Back)

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Displacement

Approx. max. wheel

speed

2 km/h

1.2 mph

Max. obstacle height

1.5 cm

0.6 cm with plates

Max. slope
5° (on slope at rest)

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STABILITY
Fall down prevention
Front Coverage
Front stability upgrade

Front, Right and Left

Coverage

Front left and right stability

upgrade coverage

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HUMAN INTERACTION

 
Screen


Audio

Size246 x 175 x 14.5 mm
9.68 x 6.89 x 0.57 in


LoudspeakersLocationThe two loudspeakers are located in each ear (A-B).
CPU1.3 GHz quad-core ARM Cortex-A7

Impedance8 Ω
Adjusted Peak Performance (APP)0.003156 WT

Max. SPL74 dB/W/m
DDR3 SDRAM1 GB

Frequency response400 Hz to 9 kHz (-6 dB)
Flash memory32 GB eMMC

Output power7 W RMS
LCDTypeIPS
MicrophonesLocationThe four microphones are located on the head (A-B-C-D).
Resolution1280 x 800 pixels
Sensitivity-12 dBV
(0.71 Vpp)
 @ 1 kHz
Colour24 bit true colour
Distortion<3%
Touch PanelCapacitive Multi-Touch
 (5 simultaneous points)


Frequency range200 Hz to 7 kHz (-6 dB)
Camera2 megapixels

Max. SPL110 dB
SensorAmbient light

TypeOmnidirectional
Acceleration




<3%




Magnetic




Operating SystemAndroid




 

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Flat imaging (2D)

LocationThe two cameras are located in the mouth and on the forehead.
Imaging arrayModelOV5640
TypeSOC Image Sensor
Resolution5 megapixels
Size¼ inch
Active Pixels2592 x 1944
Pixel size1.4 x 1.4 μm
Dynamic range68 dB @8x gain
Signal/Noise ratio36 dB (maximum)
Responsivity600 mV/Lux-sec
Shutter typeRolling shutter / frame exposure
Output

Camera output

(Values may vary depending on NAOqi version)


2592x1944 @15 fps
1920x1080 @30/15 fps
1280x960 @30/15 fps
640x480 @30/15 fps
320x240 @30/15 fps
ViewField of view

54.4° HFOV

44.6° VFOV

Focus type

Autofocus

10 cm to ∞


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Depth and Stereo imaging

LocationStereo image is provided by a pair of 2D cameras, located behind the eyes.
Imaging arrayModelOV4689
TypeCMOS Image Sensor
Size1/3 inch

Active Pixels

(Values may vary depending on NAOqi version)

1280 x 720
Shutter typeRolling shutter / frame exposure
OutputCamera output2560 x 720 @15 fps
ViewFocus type

Fixed focus

40 cm to ∞

Stereovision

3D sensor
Field of view90.6° HFOV, 56.3° VFOV
Field of view57.2° HFOV, 44.3° VFOV


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Touch Sensitive area
HeadThree on the top of the head (A-B-C)
HandTwo on the back of each hand (D)


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Buttons
Chest button
Location
Located on the chest under the tablet (A)
Stop button
Location
Located behind the neck (B)
Wheel bumpers
Location
Two in the front and one at the back of the base (A-B-C)


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ENVIRONMENT SENSORS
Lasers
LocationThere is one laser located on each side of the base (D-E-F) and three in the front of the base (A-B-C).
Class1M
Wavelength808 nm
Mode of operationPulsed
Frame rate6.25 Hz

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LEDs

Inertial Measurement Unit
Eye LEDsLocationThere are eight LEDs per eye
3-axis gyrometer
ColourFull Colour RGB
Ear LEDsLocationThere are ten LEDs per ear
Colour16 levels of blue

3-axis accelerometer
Shoulder LEDsLocationThere is one LED unit per shoulder
ColourFull colour RGB


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IR Sensors
Sonars
Location

The two IR sensors are located on each

side of the base (A-B).


Location

There is one sonar at the front of the base

(A) and one at the back (B).

Wavelength940 nm
Frequency42 kHz
Range

0 to 50 cm (19.6 in) at a height of

27 cm (10.7 in) above the ground


Sensitivity-86 dB
Angle
Resolution0.03 m

Detection

range

0 - 3 m

0 - 9.8 ft

Objects closer than 30 cm (12 in) will be

detected as being at 30 cm.


Effective

cone

60°



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Detection

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.

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CONNECTIVITY
Technology
Wi-FiScreen802.11 a/b/g/n
Head moduleWNC DHXA222-802.11
EthernetFor maintenance use only
Bluetooth ®Head

Bluetooth 4.0

Bluetooth Low Energy


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