Khepera mobile robot
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The Khepera is a small (5.5 cm) mobile robot developed at the LAMI laboratory of Prof. Jean-Daniel Nicoud in EPFL (Lausanne, Switzerland) in the mid '90s. It has been developed by Edo. Franzi, Francesco Mondada, André Guignard and others.
Small, fast, architectured around a Motorola 68331, it served the research for 10 years, widely used by over 500 universities worldwide. It is now outdated, even with its upgraded processor and flash in version 2.0.
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[edit] Technical details
[edit] 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
- 2 DC brushed servo motors with incremental encoders
- 8 infrared proximity and ambient light sensors (SFH900)
[edit] 2.0 Version
- Motorola 68331 CPU @ 25 MHz
- 512 KB RAM
- 512 KB Flash
- Improved batteries and sensors
[edit] 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
[edit] External link
- Homepage - K-team, the company which sells Khepera
[edit] References
- Mondada, F., Franzi, E., Guignard, A. (1999), The Development of Khepera. In proceedings of First International Khepera Workshop, Paderborn, December 10-11, 1999. PDF BibTex EPFL Infoscience entry
