Switching life on and off

To freeze or wake up Pepper:

Step Action

Press the Chest Button twice.

Note: you can also click the life_btn Life button in Choregraphe.

Result

Pepper switches its Life status.

If off, Pepper:

  • Pushes a happy grunt, and
  • performs a Waking up.

If on, Pepper:

  • Sights,
  • Stops its Activities and
  • Performs a Resting action.

Waking up

When requested to wake up, Pepper:

  • Turns the Stiffness of its motors on,
  • Goes to a standing posture,
  • Resumes its life.

Resting

When requested to rest, Pepper:

  • Goes to its resting posture.
  • Turns the Stiffness of its motors off.

Specific cases

With Brake Release keys

Warning

Be very cautious: if one of the Brake Release keys are inserted at the Hip and / or the Knee level, be aware that the brakes are not anymore protecting the robot.

Always keep a hand on the hip and another on the shoulder of the robot in order to prevent any risk of falling.

  • Wake up command has the regular effect.

  • Rest command may have the regular effect if the robot is exactly in balance, but most of the time the robot will bow or even, in some cases, stoop:

    posture_bow posture_stoop

Pepper lying on the ground

If Pepper is not on his wheels, i.e. it has fallen or was forced to lie on the ground, the fall manager automatically sets the Stiffness off and neither Wake up nor Rest are available anymore.

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