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. Scientific impact 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. 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 Running µKOS RTOS 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 Version 4 800 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 Notes Mondada, F., Franzi, E., Guignard, A. (1999), The Development of Khepera. In proceedings of First International Khepera Workshop, Paderborn, 10–11 December 1999. PDF BibTex EPFL Infoscience entry External links Homepage – K-Team, the company which sells the Khepera robots Prototype robots Differential wheeled robots Robots of Switzerland Micro robots Educational robots 1991 robots