Khepera II is a miniature mobile robot with functionality similar to that of larger robots used in research and education. Khepera was originally designed as a research and teaching tool for a Swiss Research Priority Program at EPFL in Lausanne. It allows real world testing of algorithms developed in simulation for trajectory planning, obstacle avoidance, pre-processing of sensory information, and hypotheses on behaviour processing, among others.

Very modular at both the software and hardware level, Khepera has a very efficient library of on-board applications for controlling the robot, monitoring experiments, and downloading new software. A large number of extension modules make it adaptable to a wide range of experimentation.

To facilitate programming of the robot, several development environments are supported spanning from standard cross-C developments to more sophisticated tools like SysQuake, LabVIEW® or MATLAB®, to the 3D WEBOTS Khepera simulator. Please note however that these software are just a suggestion: Any other programming environment capable of communicating over a serial port can also be used.


Processor: Motorola 68331, 25MHz
RAM: 512KBytes
Flash: 512KBytes
Programmable via serial port
Motors: 2 DC brushed servo motors with incremental encoders (roughly 12 pulses per mm of robot motion)
Sensors: 8 infra-red proximity and ambient light sensors with up to 100 mm range, and
Power consumption
I/O: 3 analog inputs (0-4.3V, 8bit)
Power: Power adapter, or
Rechargeable NiMH batteries
Autonomy: 1 hour, moving continuously.
Additional turrets will reduce battery life.
Communication: Standard serial port up to 115kbps
Extension bus: Expansion modules can be added to the robot using the K-Extension bus.
Size: 70 mm x 30 mm (approximately)
Weight: Approx. 80g

Video Clip - multiple Khepera (original Khepera) Windows Media Player (1.5 MB)


Hardware Options
Gripper Module
  • Built-in CPU for local control
  • Detects objects between the gripper fingers
  • Able to examine electric resistance of the object in the gripper
K213 Vision Turret
  • Linear vision (1 x 64 pixels)
  • 256-level gray scale
  • Automatic iris adjustment
General I/O Turret
  • Framework to mount application-specific sensors and actuators
  • Digital input/output
  • Variable gain analog input
IR Communication Turret/Base
  • Inter-Khepera II message exchange
  • Khepera II - host uplink/downlink
  • Maximum 115.2 KBPS communication speed
  • Collaboration and evolution experiments with multiple robots
Radio-modem Turret/Radio Base
  • Radio communication with up to 32 robots
  • Direct robot addressing
  • Error detection and correction
Video Camera Module
  • 492 x 510 pixels (NTSC)
  • Automatic iris control output
  • NTSC or PAL format
  • Color or black and white
  • Cable connection
Omni-directional CCD Camera
  • In comparison with the conic optic, this cylindrical optic allows you to see a large scale, from near the robot to the horizon.
Wireless Camera Vision Turret -- NEW --
  • Color vision sensor (380x450 pixels)
  • Embedded microphone
  • 2.4GHz wireless image transmission to the base receiver
  • 2.4GHz wireless audio transmission to the base receiver
  • Four transmission channels
Evolvable Hardware Turret
  • Using Xilinx 6200 series FPGA (Vertex version also available)
  • For both "extrinsic" and "intrinsic" hardware evolution
  • Full functions of the FPGA accessible
Continuous Power Supply
  • Provides power to several Khepera II for continuous running
  • Reconfigurable maze
Rotating Contact (cable unroller)
  • Connects Khepera II with host computer for long running experiments
  • Maintains power and communication for 1 or 2 Khepera IIs

Software Options
  • Simulation package for Khepera II and some optional turrets
  • 3D animation, actuator and sensor modelling, and multi-agent capabilities
  • Simulation results can be downloaded onto real Khepera II with simple recompilation

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