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Concept
Khepera mobile robot
Summary
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.
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.
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)
Motorola 68331 CPU @ 25 MHz
512 KB RAM
512 KB Flash
Improved batteries and sensors
800 MHz ARM Cortex-A8 Processor
Weight: 540g
256 MB RAM
512 MB plus additional 8GB for data
Battery: 7.
Official source
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