• Source: Khepera mobile robot

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. It appeared again in a 2003 article.
The Khepera helped in the emergence of evolutionary robotics.




Technical details






= Original version

=
Diameter: 55 mm
Height: 30 mm
Empty weight: 80 g
Speed: 0.02 to 1.0 m/s
Autonomy: 45 minutes moving
Motorola 68331 CPU @ 16 MHz
256 KB RAM
512 KB EEPROM
Running μKOS RTOS
2 DC brushed servo motors with incremental encoders
8 infrared proximity and ambient light sensors (SFH900)




= 2.0 Version

=
Motorola 68331 CPU @ 25 MHz
512 KB RAM
512 KB Flash
Improved batteries and sensors




= 3.0 Version

=
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



Notes
Mondada, F., Franzi, E., Guignard, A. (1999), The Development of Khepera. In proceedings of First International Khepera Workshop, Paderborn, 10–11 December 1999. PDF BibTex Archived 6 July 2011 at the Wayback Machine EPFL Infoscience entry




External links



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

Kata Kunci Pencarian:

• Khepera mobile robot
• Denning Mobile Robot Company
• Mobile robot
• Francesco Mondada
• Jean-Daniel Nicoud
• E-puck mobile robot
• André Guignard
• Differential wheeled robot
• Webots
• Evolutionary robotics