Concept

Khepera mobile robot

Résumé
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.
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