Khepera mobile robot

The Khepera is a small (5.5 cm) differential wheeled mobile robot that was developed at the LAMI laboratory of Prof. Jean-Daniel Nicoud at EPFL (Lausanne, Switzerland) in the mid '90s. It was developed by Edo. Franzi, Francesco Mondada, André Guignard and others.

A Khepera III robot at the Georgia Institute of Technology
The first generation Khepera robot released in 1996

Small, fast, and architectured around a Motorola 68331, it has served researchers for 10 years, widely used by over 500 universities worldwide.

Scientific impact

The Khepera was sold to a thousand research labs and featured on the cover of the 31 August 2000 issue of Nature.[1] It appeared again in a 2003 article .

A Google scholar search with khepera mobile robots returns 4800 hits . The Khepera helped in the emergence of evolutionary robotics .

Technical details

Original version

2.0 Version
  • Motorola 68331 CPU @ 25 MHz
  • 512 KB RAM
  • 512 KB Flash
  • Improved batteries and sensors

Version 4
  • 800 MHz ARM Cortex-A8 Processor
  • Weight: 540g
  • 256 MB RAM
  • 512 MB plus additional 8GB for data
  • Battery: 7.4V Lithium Polymer, 3400mAh

Extensions

Several extension turrets exist for the Khepera, including:

  • Gripper
  • 1D or 2D camera, wire or wireless
  • Radio emitter/receiver, low and high speed
  • I/0


References
  1. linked with the article of Michael J. B. Krieger, Jean-Bernard Billeter and Laurent Keller.
Notes
  • Homepage – K-Team, the company which sells the Khepera robots
  • The Khepera-Lisp Interface (KHLI) – library for controlling Khepera from Allegro Common LISP
  • Khepera Simulator – A 2D simulator for the Khepera mobile robot
  • Webots – A commercial software that simulates and allows cross-compilation and remote control of the Khepera and other robots
  • khepera.cfg – Khepera configuration file for Player Project robot simulator
  • "YAKS". Freecode. – Yet Another Khepera Simulator
  • Khepera III Toolbox – A software toolbox for the Khepera III robot
  • KiKS is a Khepera Simulator – Matlab based Khepera/Khepera II simulator
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