khepera mobile robot

The Khepera is a small (7cm) mobile robot developed at the LAMI laboratory of Prof. Jean-Daniel Nicoud in EPFL in Lausanne, Switzerland in the mid nineties. It has been developed by Edoardo Franzi, Francesco Mondada, Andr Guignard and others. Small, fast, architectured around a Motorola 68331, it served the research for 10 years. It is now outdated, even with its upgraded processor and flash in version 2.0.

Technical details

Original version

Diameter: 60 mm
Height: 30 mm
Empty weight: 80 g
Speed: : 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 Infra-red proximity and ambient light sensors (SFH900)

2.0 Version

Motorola 68331 CPU @ 25 MHz
512 KB RAM
512 KB Flash
Improved batteries and sensors

External link

Homepage - Khepera 2 homepage at K-team

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