# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Interacting with Pepper

## Talking with Pepper

Prerequisite

Autonomous Life: ON

To chat with Pepper:

Step | Action
--- | ---
| Make sure Pepper is listening to you: When Pepper is listening, his shoulders are blue. When he is not listening, his shoulders are off.
| Say a short sentence, in one go.

Tips

- What can I say?

  See:

  - Basic Channel - What can I say to Pepper,
  - Semantic Engine - What Pepper knows.

- Pepper says nothing, why?

  If Pepper has not understood what you said, he starts listening again.

  ... Repeat louder or try another sentence.

- Pepper starts talking before I finished, why?

  Pauses are interpreted as the end of the sentence.

  ... Speak loud and clear, without hesitation.

- Pepper doesn’t listen, what can I do?

  ... Get close enough, in front of him, try to catch his gaze.

## Calling Pepper

Prerequisite

Autonomous Life: ON

When Pepper has not yet seen you, or is not close enough to be fully listening, he may, however, understand a few words.

Speaking loud enough to be heard, call Pepper with one of the following sentences:

English | Japanese | Effect
--- | --- | ---
“Pepper” | 「ペッパー」 | Pepper has a small reaction.
“Hello”, “Hi” | 「おはよう（ございます）」 「おやすみ（なさい）」 「ただいま」、「かえったよ」 「いってきます」、「いってくる」、「でかけてくるね」 | Pepper has a small reaction.
“Come Here”, “Come Closer” | 「こっち来て」、「こっちおいで 」、「ちょっと来て」 | If Pepper is able to see you, he asks for confirmation. If you confirm, Pepper comes closer.
“Pepper Come Here”, “Pepper Come Closer” | 「ペッパーこっち来て」、「ペッ パーこっちおいで」、「ペッパー ちょっと来て」 | If Pepper is able to see you, he comes closer.

## How Pepper detects humans

Pepper tries, as much as possible, to establish and keep eye contact with people around.

To do so, Pepper:

Step | Action
--- | ---
| Looks in the direction of any detected stimulus - sound, movement, touch.
| Checks if this stimulus may correspond to a human. If a human is detected, Pepper tries to keep eye contact with him/her, If not, Pepper goes back to his previous occupation.

Limits

Pepper does not react to new stimulus:

- When processing a stimulus (i.e. checking if it corresponds to a human).

  Pepper does not react to other stimuli until he has finished to process the first one.

- When engaged in an Activity or a Dialog.

  When Pepper is chatting with a human, he always keeps tracking the human until the human has left.

  When Pepper is in the middle of an Activity, all his actions are exclusively defined by the Activity itself.

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