The Khepera IV robot integration is based on 10 years of expertise in miniature robotics. Features available on the platform can match the performances of much bigger robots, with a upgradable embedded computing power using the KoreBot system, multiple sensor arrays for both long range and short range object detection, swappable battery pack system for optimal autonomy, and exceptional differential drive odometry.
Khepera IV provides features never seen before on a mini-robot
The new generation of Khepera is still able to move on a tabletop but it is also designed to move on your lab floor. Rough floor surfaces, carpets, and even doorsteps are not a problem for the Khepera IV. It is the perfect solution for real world swarm robotics experiments.
The new Khepera extension bus is also compatible with the KoreBot system, so that any KoreBot extension can be plugged on top of the robot. The bus specification is fully open and available to enable custom extension developments for users.
Khepera IV Architecture
The Khepera IV architecture provides exceptional modularity. As any K-Team robot, the Khepera IV is using an extension bus system for nearly unlimited configurations.
The robot base can be used with or without a KoreBot II board. Using the KoreBot II, it features a standard embedded Linux Operating System for quick and easy autonomous application development. Without the KoreBot II, the robot can be remotely operated, as the previous Kheperas, it is easily interfaced with any Personal Computer. Remote operation programs can be written with Matlab, LabView, or with any programming language supporting serial port communication.
The robot base includes an array of 9 Infrared Sensors for obstacle detection as well as 5 Ultrasonic Sensors for long range object detection. It also proposes an optional front pair of ground Infrared Sensors for line following and table edge detection. The robot motor blocks are Swiss made quality mechanical parts, using very high quality DC motors for efficiency and accuracy. The swappable battery pack system provides an unique solution for almost continuous experiments, as an empty battery can be replaced in a couple of seconds.
Trough the KoreBot II, the robot is also able to host standard Compact Flash extension cards, supporting WiFi, Bluetooth, extra storage space, and many others.
Khepera IV Embedded Linux Support
With the KoreBot II extension sold separately, the Khepera IV is able to embed a complete standard Linux Operating System. It provides a well known standard C/C++ environment for application developments. Almost any existing library can be easily ported on the Khepera IV, allowing the development of portable embedded algorithms and applications.
KoreBot II GNU C/C++ cross-compiler provides a powerful standard tool for complex code compilation and conditional build. It also supports all the standard C library functions and almost all the other Posix libraries.
The Khepera IV is the new standard tool for robotic experiments and demonstrations such as:
Khepera IV Specifications
|Processor||DsPIC 30F5011 at 60MHz, extensible to 600MHz with Korebot II add-on board SOLD SEPARATELY|
|RAM||4 KB on DsPIC, 128 MB on KoreBot II Extension|
|Flash||66 KB on DsPIC, 32 MB on KoreBot II Extension|
|Motion||2 DC brushed servo motors with incremental encoders (roughly 22 pulses per mm of robot motion)|
|Speed||Max: 0.5 m/s|
|Sensors||8 Infra-red proximity and ambient light sensors with up to 30cm range, 2 Infra-red ground proximity sensors for line following applications, 5 Ultrasonic sensors with range 20cm to 4 meters|
|I/O||Several IO with KoreIO Extension 2 programmable LED|
|Power||Power Adapater Swapable Lithium-Polymer battery pack (1350 mAh)|
|Autonomy||~8 hours, moving continuously, without KoreBot. Additional turrets will reduce battery life.|
|Communication||Standard Serial Port, up to 115kbps USB communication with KoreBot Wireless Ethernet with KoreBot and WiFi card|
|Extension Bus||Expansion modules can be added to the robot using the KB-250 bus.|
|Size||Diameter: 130 mm Height: 70 mm|
|Weight||Approx 690 g|
|Payload||Approx 2000 g|
|Simulator||V-REP, realistic 3D Simulator and robot programming (included for education), model for Khepera IV included|
|Development Environment for Autonomous Application||GNU C/C++ compiler, for native on-board applications with KoreBot. Freeware|
|Remote control Software via tether or radio||LabVIEW® (on PC, MAC or SUN) using RS232. MATLAB® (on PC, MAC, Linux or SUN) using RS232. SysQuake® (on PC, MAC, Linux or SUN) using RS232. Freeware. Any other software capable of RS232 communication|