e-puck 2

About 4000 robots are used by more than 200 universities and research centres around the world

New generation of e-puck series is the latest mini mobile robot developed by EPFL and distribute by Rahal Technology in the UK

e-puck 2

e-puck has been a successful robot since 2005. About 4000 units used both in education and research and version 2 is available since Jan 2018. e-puck 2 has many improvements which still keeps compatibility on most scenarios. Same shape and mechanics but more powerful controller, USB, time of flight sensor and WiFi to name few.

  • Microcontroller - STM32F4 at 168MHz (210 DMIPS), FPU and DSP core for signal processing
  • Sensors - 8 proximity and ambient light, 1 distance sensor, 3D IMU, 4 omni-directional microphones, VGA color camera, IR receiver for remote control
  • Outputs - 4 red LEDs, 4 RGB LEDs, green body light, 1 strong red LED in front, speaker (WAV files)
  • Communication - USB Full-speed, Bluetooth 2.0, BLE, WiFi
  • Programming & Debugging - Free C compiler, Webots simulator, onboard debugger (GDB)
  • Battery - 1.8 Ah LiIon battery for ~3 hours autonomy

e-puck Extensions


Linux on e-puck with a Raspberry Pi Zero W. Compatible with e-puck version 1 and 2. RPi Zero W and micro SD with pre-configured system included.


  • Raspberry Pi zero W (rPi) connected to the robot via I2C
  • Interface between the robot base camera and the rPi via USB, up to 15 FPS
  • 1 digital microphone and 1 speaker
  • USB hub connected to the rPi with 2 free ports
  • USB cable to the rPi uart port. Also ok for charging
  • 2 chargers: 1 for the robot battery and 1 for the auxiliary battery on top of the extension
  • Charging contact points in front for automatic charging. External docking station available
  • Several extension options. 6 i2C channels, 2 ADC inputs
  • Several LED to show the status of the rPi and the power/chargers

Omnivision V3

Pi-Puck extension required


  • 5Mpixel color camera looking 360° all around the robot
  • Compatible with Pi-puck and interfaced with the Raspberry Pi Zero W
  • Parabolic mirror for uniform pixel distribution
  • additional battery (1600 mAh)
  • Suitable for basic image processing such as blobs, colors and light detection

e-puck extension for Gumstix Overo COM

Full package content is:

  • e-puck extension with Gumstix Overo COM and micro sd card already inserted
  • USB adapter for the micro sd
  • A to mini-B USB cable
  • USB wifi dongle
  • External power adapter
  • USB host adapter

Cliff Module

Cliff Module extends the capability of the ground sensor with 2 additional sensors in front of the wheels.

e-puck can now detect the end of the table and react.

e-puck Automatic Charger

Robot can be driven autonomously to park in the charger. 2 spring contacts adapt only to the cliff module.

3x3 RGB Display e-puck Extension

RGB panel is a new module designed to be suitable for the e-puck robot. It is comprised of:

  • 9 RGB LEDs
  • 8 infrareds

Ground Sensors Module

Ground Sensors extension is comprised of three Infrared (IR) proximity sensors pointed directly at the ground in front of the robot. These sensors are mounted on a small PCB which is placed in the slot near the front of e-puck's plastic base. The PCB also includes a microcontroller that continually samples the IR sensors. Value of the sensors can then be read by the e-puck through the I2C serial interface.

e-puck Range & Bearing Board

This board allows situated agents to communicate locally, obtaining at the same time both the range and the bearing of the emitter without the need of any centralized control or any external reference. Therefore, the board allows the robots to have an embodied, decentralised and scalable communication system. System relies on infrared communications with frequency modulation and is composed of two interconnected modules for data and power measurement.

Charging Wall for Pi-Puck

Pi-Puck extension required

e-puck Accessories

e-puck High-Speed Charger

High-speed charger for 1 e-puck battery. It takes about 1h20m-1h50m depending on battery discharge state. The standard charger takes up to 3 hours for a complete charge.

e-puck Extra Battery

Reflective strip for e-puck mutual detection

ICD Programming Cable

ICD (both ICD2 and ICD3) programming cable (optional) to link the microchip ICD programmer with the e-puck programming connector. Used for in circuit debugging. See http://www.gctronic.com/doc/index.php/E-Puck#Re-flashing_the_bootloader_on_e-puck.

Only compatible with e-puck (e-puck2 doesn't need it).

Motor: e-puck motor, Gear 1:50.

Serial Cable

Serial cable to connect the e-puck with a computer over serial line. See http://www.gctronic.com/doc/index.php/E-Puck#Serial_communication.

Only compatible with e-puck (e-puck2 doesn't need it).

e-puck Arduino Set

Mechanical support and connector cable soldered to an Arduino Uno board (included).

Additional Battery for Pi-Puck

Omnivision V2