Continued from 'Pepper' Humanoid Robot Teardown (3)

[Click to enlarge image]

Next, we started to disassembled the upper body of the Pepper robot by loosening many screws and pulling out cables.

Again, this was not an easy task. There was a rubber band on each of the right and left sides of the waist, connecting the upper and lower bodies. And we found it very difficult to remove the two bands.

[Click to enlarge image]

No matter how many times we tried to pull them out by sheer force, we were pulled back by them.

[Click to enlarge image]

When we were about to give up, one of us tilted the upper body of the robot. When the upper body is pulled up with both hands by sheer force, the right and left bands are evenly pulled. On the other hand, when the body is tilted either to the right or left, one band expands while the other contracts. So, we started to remove the contracted band first.

[Click to enlarge image]

The bands were successfully removed as we expected, and we pulled out the upper body.

[Click to enlarge image]

The robot looked completely different from the original form. No one would see it as a humanoid robot.

The upper and lower bodies are connected by flat cables looking like signal lines and four cables that are seemingly used for supplying electricity. We measured the voltage of the power supply cable with a digital multimeter. It was slightly less than 29V. The robot is powered by a battery and booted with a power button on its chest. So, electricity is always being conducted in it.

Later, we found that there was another button near the robot's foot and that it was possible to cut power supply by turning it off.

[Click to enlarge image]
[Click to enlarge image]

We were running out of time. So, we sped up the teardown.

[Click to enlarge image]

The exterior of the leg was removed.

[Click to enlarge image]

The omni wheel was exposed.

[Click to enlarge image]

When we started to disassemble the arms, we ran out of time and wrapped up the work.