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

The Khepera is a small (5.5 cm) differential wheeled mobile robot that was developed at the LAMI laboratory of Professor Jean-Daniel Nicoud at EPFL (Lausanne, Switzerland) in the mid 1990s. It was developed by Edo. Franzi, Francesco Mondada, André Guignard and others.

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.[2]

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

See also

Webots – software that simulates and allows cross-compilation and remote control of the Khepera and other robots

References

  1. "Volume 406 Issue 6799, 31 August 2000". nature.com. 31 August 2000. Retrieved 14 July 2021.
  2. Verschure, Paul F. M. J.; Voegtlin, Thomas; Douglas, Rodney J. (October 2003). "Environmentally mediated synergy between perception and behaviour in mobile robots". Nature. 425 (6958): 620–624. Bibcode:2003Natur.425..620V. doi:10.1038/nature02024. ISSN 1476-4687. PMID 14534588. S2CID 4418697.
Notes
  • Homepage – K-Team, the company which sells the Khepera robots
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