Editing Khepera mobile robot

{{Short description|Mobile robot by EPFL}}
{{Use dmy dates|date=August 2021}}
[[Image:Khepera III robot.jpg|thumb|A Khepera III robot at the [[Georgia Institute of Technology]]]]
[[Image:Khepera mobile robot.jpeg|thumb|The first generation Khepera robot released in 1996]]{{Bad linked references|date=July 2021}}
The '''Khepera''' is a small (5.5&nbsp;cm) [[Differential wheeled robot|differential wheeled]] [[autonomous robot|mobile robot]] that was developed at the LAMI laboratory of Professor [[Jean-Daniel Nicoud]] at [[École Polytechnique Fédérale de Lausanne|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{{Citation needed|date=June 2007}} worldwide.

== Scientific impact ==
The Khepera was sold to a thousand research labs and featured on the cover of the 31 August 2000 issue of [[Nature (journal)|Nature]].<ref>{{Cite web|title=Volume 406 Issue 6799, 31 August 2000|url=https://www.nature.com/nature/volumes/406/issues/6799|access-date=2021-07-14|website=nature.com|date=31 August 2000 |language=en}}</ref>{{Full citation needed|date=July 2021}} It appeared again in a 2003 article.<ref>{{Cite journal|last1=Verschure|first1=Paul F. M. J.|last2=Voegtlin|first2=Thomas|last3=Douglas|first3=Rodney J.|date=October 2003|title=Environmentally mediated synergy between perception and behaviour in mobile robots|url=https://www.nature.com/articles/nature02024|journal=Nature|language=en|volume=425|issue=6958|pages=620–624|doi=10.1038/nature02024|pmid=14534588|bibcode=2003Natur.425..620V|s2cid=4418697|issn=1476-4687|url-access=subscription}}</ref>

The Khepera helped in the emergence of [[evolutionary robotics]].{{citation needed |date=June 2022}}

== Technical details ==
=== Original version ===
* Diameter: 55&nbsp;mm
* Height: 30&nbsp;mm
* Empty weight: 80 g
* Speed: 0.02 to 1.0&nbsp;m/s
* Autonomy: 45 minutes moving
* [[Freescale CPU32|Motorola 68331]] CPU @ 16&nbsp;MHz
* 256 KB [[RAM]]
* 512 KB [[EEPROM]]
* Running μKOS RTOS
* 2 [[Electric motor|DC brushed servo motors]] with [[incremental encoder]]s
* 8 [[infrared]] proximity and ambient light sensors (SFH900)

=== 2.0 Version ===
* Motorola 68331 CPU @ 25&nbsp;MHz
* 512 KB RAM
* 512 KB Flash
* Improved batteries and sensors

=== 3.0 Version ===
* 800&nbsp;MHz ARM Cortex-A8 Processor
* Weight: 540g
* 256 MB RAM
* 512 MB plus additional 8GB for data
* Battery: 7.4V Lithium Polymer, 3400mAh

== 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

== See also ==
[[Webots]] – software that simulates and allows cross-compilation and remote control of the Khepera and other robots

== References ==
{{reflist}}
;Notes
* [[Francesco Mondada|Mondada, F.]], [[Edo. Franzi|Franzi, E.]], [[André Guignard|Guignard, A.]] (1999), ''The Development of Khepera''. In proceedings of First International Khepera Workshop, Paderborn, 10–11 December 1999. [http://infoscience.epfl.ch/getfile.py?recid=89709&mode=best PDF] [http://infoscience.epfl.ch/export.py?recid=89709&ln=fr&fm=bibtex BibTex] {{Webarchive|url=https://web.archive.org/web/20110706230714/http://infoscience.epfl.ch/export.py?recid=89709&ln=fr&fm=bibtex |date=6 July 2011 }} [http://infoscience.epfl.ch/search.py?recid=89709&ln=fr EPFL Infoscience entry]

==External links==
{{Commons category}}
* [http://www.k-team.com Homepage] – K-Team, the company which sells the Khepera robots

{{DEFAULTSORT:Khepera Mobile Robot}}
[[Category:Prototype robots]]
[[Category:Differential wheeled robots]]
[[Category:Robots of Switzerland]]
[[Category:Micro robots]]
[[Category:Educational robots]]
[[Category:1991 robots]]