为Pepper机器人添加开源硬件模块，提升计算与感知能力。
PEBRE: An Open-Hardware Compute and Perception Add-On for the Pepper Robot
- 集成Jetson Orin Nano等外部设备，扩展机器人能力。
- 显著提升感知精度和计算性能，实测验证效果明显。
- 开源设计助力科研社区持续使用，适合机器人开发爱好者。
本文介绍了PEBRE的设计、开发及实验验证，这是一个针对Pepper机器人的开源硬件扩展模块，旨在加速软件开发。通过集成Jetson Orin Nano、Logitech BRIO、Intel RealSense D435i、Samson UB1和RØDE VideoMicro II等外部组件，本项目显著提升了Pepper的计算能力和感知性能。实验结果表明，新硬件大幅增强了机器人的环境感知与处理能力。该工作以开源硬件和模块化设计的方式，为研究社区提供了一个可持续使用的平台，使Pepper这一经典机器人在预期寿命之外仍具科研价值。通过PEBRE，我们希望实现更快的软件迭代与外部设备高效集成，进一步拓展Pepper的应用潜力。
原文摘要 · Abstract (English)
This paper presents the design, development, and experimental verification of PEBRE, an open-hardware add-on for fast software development on the Pepper Robot. Our project enhances Pepper's computational and perception capabilities by integrating external components such as a Jetson Orin Nano, Logitech BRIO, Intel RealSense D435i, Samson UB1, and RØDE VideoMicro II. Our results show that the new hardware considerably improved Pepper's perception abilities and computational power. This development contributes to the community by implementing an open hardware and open-source modular add-on to the Pepper robot and keeping this relevant research platform functional beyond its expected lifespan. With PEBRE, we aim to facilitate faster software development and more efficient integration of external components, ultimately enhancing the capabilities of the Pepper robot.
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