Khepera mobile robot: Difference between revisions
Scientizzle (talk | contribs) |
|||
| Line 40: | Line 40: | ||
* [http://www.k-team.com Homepage] - K-team, the company which sells Khepera |
* [http://www.k-team.com Homepage] - K-team, the company which sells Khepera |
||
* [http://phoenix.inf.upol.cz/~dostal/robots.html The Khepera-Lisp Interface (KHLI)] - library for controlling Khepera from Allegro Common LISP |
* [http://phoenix.inf.upol.cz/~dostal/robots.html The Khepera-Lisp Interface (KHLI)] - library for controlling Khepera from Allegro Common LISP |
||
* [http://diwww.epfl.ch/lami/team/michel/khep-sim/ Khepera Simulator] - A 2D simulator for the Khepera mobile robot |
|||
* [http://www.eng.upm.edu.my/~kmbs/files/hacks/hardware/robot/playerstage/index.html khepera.inc] - Khepera include file for [[Player Project]] robot simulator |
|||
* [http://freshmeat.net/projects/yaks/ YAKS Project] - Yet Another Khepera Simulator |
|||
== References == |
== References == |
||
Revision as of 11:02, 4 January 2008
The Khepera is a small (5.5 cm) differential wheeled mobile robot developed at the LAMI laboratory of Prof. Jean-Daniel Nicoud at 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[1] [citation needed] worldwide. It is now outdated, even with its upgraded processor and flash in version 2.0.
Scientific impact
The Khepera was sold to a thousand of research labs and hold the cover of Nature in its issue of August 31th, 2000[2] and appears again in a 2003 article [1].
A Google scholar search with khepera mobile robots returns 2200 results [2]. The Khepera helped evolutionary robotics to emerge [3][4].
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
- 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
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
External links
- Homepage - K-team, the company which sells Khepera
- The Khepera-Lisp Interface (KHLI) - library for controlling Khepera from Allegro Common LISP
- Khepera Simulator - A 2D simulator for the Khepera mobile robot
- khepera.inc - Khepera include file for Player Project robot simulator
- YAKS Project - Yet Another Khepera Simulator
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