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
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  • Homepage – K-Team, the company which sells the Khepera robots
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