Khepera mobile robot
{{Short description|Mobile robot by EPFL}}
{{Use dmy dates|date=August 2021}}
Image:Khepera mobile robot.jpeg{{Bad linked references|date=July 2021}}
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{{Citation needed|date=June 2007}} 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.{{Cite web|title=Volume 406 Issue 6799, 31 August 2000|url=https://www.nature.com/nature/volumes/406/issues/6799|access-date=2021-07-14|website=nature.com|date=31 August 2000 |language=en}}{{Full citation needed|date=July 2021}} It appeared again in a 2003 article.{{Cite journal|last1=Verschure|first1=Paul F. M. J.|last2=Voegtlin|first2=Thomas|last3=Douglas|first3=Rodney J.|date=October 2003|title=Environmentally mediated synergy between perception and behaviour in mobile robots|url=https://www.nature.com/articles/nature02024|journal=Nature|language=en|volume=425|issue=6958|pages=620–624|doi=10.1038/nature02024|pmid=14534588|bibcode=2003Natur.425..620V|s2cid=4418697|issn=1476-4687|url-access=subscription}}
The Khepera helped in the emergence of evolutionary robotics.{{citation needed |date=June 2022}}
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
{{reflist}}
;Notes
- Mondada, F., Franzi, E., Guignard, A. (1999), The Development of Khepera. In proceedings of First International Khepera Workshop, Paderborn, 10–11 December 1999. [http://infoscience.epfl.ch/getfile.py?recid=89709&mode=best PDF] [http://infoscience.epfl.ch/export.py?recid=89709&ln=fr&fm=bibtex BibTex] {{Webarchive|url=https://web.archive.org/web/20110706230714/http://infoscience.epfl.ch/export.py?recid=89709&ln=fr&fm=bibtex |date=6 July 2011 }} [http://infoscience.epfl.ch/search.py?recid=89709&ln=fr EPFL Infoscience entry]
External links
{{Commons category}}
- [http://www.k-team.com Homepage] – K-Team, the company which sells the Khepera robots
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Category:Differential wheeled robots