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. 2021 Jul 14;8:668057. doi: 10.3389/frobt.2021.668057

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Copyright © 2021 Rietz, Sutherland, Bensch, Wermter and Hellström.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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The WoZ4U GUI for Pepper robots, comprising parts (1–8) with the following functionalities: (1) Connection to robot and monitoring, (2) Motion and rotation of head and base, (3) Autonomy configuration, (4) Tablet control, (5) Speech and audio control, (6) and (7) Eye control, and (8) Gesture control.