Acceptance is an important ergonomic matter for an effec- tive use of technologies, especially in the case of assistive robots. Work on acceptance with children with autistic spectrum disorder, including their parents, is still lacking. Therefore, this study aims at evaluating robots’ acceptance with parents and children with and without autistic spectrum disorder. We proceeded by evaluating acceptance and anthro- pomorphism before and after a free interaction with the Pepper robot, for neurotypical children (N=13) and children with autism (N=5) and their parents. Preliminary results indicate that acceptance metrics showed a rather positive appreciation of the robot by the children but less positive for their parents. Limitations and recommendations are proposed at the end of the study.