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.

翻译：本文介绍了PEBRE（一款面向Pepper机器人快速软件开发的开源硬件扩展模块）的设计、开发与实验验证。本方案通过集成Jetson Orin Nano、Logitech BRIO、Intel RealSense D435i、Samson UB1及RØDE VideoMicro II等外部组件，显著提升了Pepper机器人的计算与感知能力。实验结果表明，新型硬件架构有效增强了Pepper的感知性能与算力。该研究通过为Pepper机器人实现模块化开源硬件与软件解决方案，不仅赋予这一重要科研平台超出预期寿命的持续运行能力，更为学界提供了可复用的技术贡献。借助PEBRE模块，我们旨在加速软件开发进程并提升外部组件的集成效率，从而全面增强Pepper机器人的应用潜力。