Khepera II is a miniature mobile robot with functionality similar to that of larger robots used in research
and education. Khepera was originally designed as a research and teaching tool for a Swiss Research
Priority Program at EPFL in Lausanne. It allows real world testing of algorithms developed in simulation
for trajectory planning, obstacle avoidance, pre-processing of sensory information, and hypotheses on
behaviour processing, among others.
Very modular at both the software and hardware level, Khepera has a very efficient library of on-board
applications for controlling the robot, monitoring experiments, and downloading new software. A large
number of extension modules make it adaptable to a wide range of experimentation.
To facilitate programming of the robot, several development environments are supported spanning from
standard cross-C developments to more sophisticated tools like SysQuake, LabVIEW® or
MATLAB®,
to the 3D WEBOTS Khepera simulator. Please note however that these software are just a suggestion:
Any other programming environment capable of communicating over a serial port can also be used.
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Processor:
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Motorola 68331, 25MHz
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RAM:
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512KBytes
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Flash:
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512KBytes
Programmable via serial port
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Motors:
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2 DC brushed servo motors with incremental encoders (roughly 12 pulses per mm
of robot motion)
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Sensors:
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8 infra-red proximity and ambient light sensors with up to 100 mm range, and
Power consumption
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I/O:
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3 analog inputs (0-4.3V, 8bit)
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Power:
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Power adapter, or
Rechargeable NiMH batteries
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Autonomy:
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1 hour, moving continuously.
Additional turrets will reduce battery life.
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Communication:
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Standard serial port up to 115kbps
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Extension bus:
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Expansion modules can be added to the robot using the K-Extension bus.
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Size:
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70 mm x 30 mm (approximately)
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Weight:
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Approx. 80g
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Video Clip - multiple Khepera (original Khepera) Windows Media Player (1.5 MB)
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Hardware Options
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Gripper Module
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- Built-in CPU for local control
- Detects objects between the gripper fingers
- Able to examine electric resistance of the object in the gripper
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K213 Vision Turret
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- Linear vision (1 x 64 pixels)
- 256-level gray scale
- Automatic iris adjustment
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General I/O Turret
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- Framework to mount application-specific sensors and actuators
- Digital input/output
- Variable gain analog input
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IR Communication Turret/Base
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- Inter-Khepera II message exchange
- Khepera II - host uplink/downlink
- Maximum 115.2 KBPS communication speed
- Collaboration and evolution experiments with multiple robots
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Radio-modem Turret/Radio Base
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- Radio communication with up to 32 robots
- Direct robot addressing
- Error detection and correction
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Video Camera Module
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- 492 x 510 pixels (NTSC)
- Automatic iris control output
- NTSC or PAL format
- Color or black and white
- Cable connection
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Omni-directional CCD Camera
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- In comparison with the conic optic, this cylindrical optic allows you to see a
large scale, from near the robot to the horizon.
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Wireless Camera Vision Turret
-- NEW --
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- Color vision sensor (380x450 pixels)
- Embedded microphone
- 2.4GHz wireless image transmission to the base receiver
- 2.4GHz wireless audio transmission to the base receiver
- Four transmission channels
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Evolvable Hardware Turret
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- Using Xilinx 6200 series FPGA (Vertex version also available)
- For both "extrinsic" and "intrinsic" hardware evolution
- Full functions of the FPGA accessible
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Continuous Power Supply
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- Provides power to several Khepera II for continuous running
- Reconfigurable maze
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Rotating Contact (cable unroller)
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- Connects Khepera II with host computer for long running experiments
- Maintains power and communication for 1 or 2 Khepera IIs
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Software Options
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WEBOTS
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- Simulation package for Khepera II and some optional turrets
- 3D animation, actuator and sensor modelling, and multi-agent capabilities
- Simulation results can be downloaded onto real Khepera II with simple recompilation
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