Navigation and obstacle avoidance: a case study using Pepper robot

In this paper we present a novel strategy and implementation of autonomous navigation for the Pepper robot. The proposed solution is modular and relies on the proper integration of existing Pepper functionalities. The human interacts with the robot using voice and/or gesture commands to setup the robot functionalities. An example use case demonstrates the ability of the robot to navigate in office environment and grasp an object to place in a target location. The robot is also able to avoid obstacles while navigating.