GRIPPER

Gripper is a turret that can be plugged on the robot. It gives to the Khepera IV the ability to grab and move objects.Two degrees of freedom for accurate and robust manipulation and transportation of objects of 5cm width and 50g load.Made from high precision mechanical parts.

Includes:

  • Kh4 Gripper

Requirements:

Software:

  • will be included in the new libkhepera library

User Manual:

KOREIOLE

KoreIOLE is a general Input and Output extension board for Khepera IV. It provides several interfaces for digital I/O, digital power outputs, 10 bit analog inputs. KoreIOLE can operate in stand-alone mode or communicate with a Khepera IV or any external SPI or I2C master. CAN bus controller is also included to connect a Khepera IV to any CAN devices.

KoreIOLE supports the KB-250 interface. KB-250 interface is an open standard interface to expand the functionality of a Khepera robot in a easy and fast way. Besides using a full line of off-the-shelf KB-250 modules, developers can also design their own modules. KB-250 modules can be used singularly or stacked together to give the needed functionality. Several KoreIOLE boards can be placed on one stack to allow control of a large number of I/O.

Set of high level commands is provided, to easily interface Khepera programs or for external operations.

  • Includes:
  • KoreIOLE board

Requirements:

User Manual:

KOREIO

KoreIO is a general Input and Output extension board for Khepera IV. It provides several interfaces to additional digital IO, digital power outputs, 10 bit analog inputs and 8 bits analog outputs. A CAN bus controller is also included to connect a Khepera IV to any CAN devices.

Special PWM ouput mode is available to control standard Servo Motors. KoreIO board is able to control up to 10 Servo Motors simultaneously, and to provide them with 5V power supply.

KoreIO board supports standalone usage using a serial or I2C interface and it can be included in a   KB-250 stack as well. KB-250 interface is an open standard interface to expand the functionality of an existing ARM base platform in a easy and fast way. Besides using a full line of off-the-shelf KB-250 modules, developpers can also design their own modules. KB-250 modules can be used singularly or stacked together to give the needed functionality.

Set of high level commands is provided, to easily interface Khepera IV programs or for external operations with libkhepera.

  • Includes:
  • KoreIO board

Requirements:

User:

KOREMOTORLE

KoreMotorLE provides two DC motor channels. It can drive up to two DC motors using separate PID’s to control position, and speed. PID control loop is implemented with 32-bit calculations, with a 32-bit position value and a 16-bit velocity value. Current measurement feedback is also available to detect torque and stall conditions for the motors.

KoreMotorLE does not support standalone operation. The board must be connected to a Khepera IV using the KB-250 stack.

KoreMotorLE supports the KB-250 interface. KB-250 interface is an open standard interface to expand the functionality of an existing Khepera robot in a easy and fast way. Besides using a full line of off-the-shelf KB-250 modules, developers can also design their own modules. KB-250 modules can be used singularly or stacked together to give the needed functionality. Several KoreMotorLE boards can be placed on one stack to allow control of a large number of motors.

Features:

  • Control for 2 DC motors with incremental encoders.
  • Motor requirements:

. 5-28V

. 2.5W max

. 2.5A max continuous

. 5.0A max peak

  • Control:

. open or closed loop regulation

. position, speed and current (torque) control

. adjustable sampling frequency from 10Hz up to 12kHz

  • One 2A fuse per motor and one common 5A fuse
  • K-Net Interface (for communication with Khepera and Koala)
  • KB-250 Male Interface for communication with Khepera IV
  • KB-250 Female Interface for stacking

Includes:

  • KoreMotorLE board

Requirements:

User Manual:

EXPANSION TURRET

Expansion turret can be plugged on the top of the Khepera IV to improve the capabilities of the Khepera IV. This turret will provide many different options to the Robot:


With the expansion turret it is now possible to connect and use on the same Khepera robot a LRF module and a stargazer module at the same time.

Expansion turret give access of different GPIO’s of the Khepera by soldering a wire:

  • – Main ground
  • +3.3V supply output (max 2A)
  • +5V supply output (max 2A)
  • COM3 Tx (ttyS2), GPIO166
  • COM3 Rx (ttyS2), GPIO165
  • Interrupt 1 input, GPIO10
  • Interrupt 2 input, GPIO186
  • I2C SCL, GPIO184
  • I2C SDA, GPIO185
  • SPI MISO, GPIO173
  • SPI MOSI, GPIO172
  • SPI CLK, GPIO171
  • SPI CS1, GPIO175
  • PWM1, GPIO144
  • Kh4 battery Voltage
  • COM1 Rx (ttyS0), GPIO151
  • COM1 Tx (ttyS0), GPIO148

Here is the possible configurations with the expansion turret :

  • Includes:
  • Kh4 expansion
  • Requirements:
  • KheperaIV

Software:

  • will be included in the new libkhepera libraryUser

Manual:

EXTERNAL CHARGER PACK

K4 external charger pack is an option to the expansion board. Composed by two batteries, an external charger and a power supply. It is used to add autonomy to the Khepera IV robot. Additional battery of 3600mAh adds about 5 hours of autonomy to Khepera IV. It is particulary indicated when you use a Stargazer and / or a LRF module, in order to save the autonomy of the robot.

Another advantage is that you are able to change the additional battery while the native battery inside the robot is still powering it, making unnecessary to restart your robot and allowing you to run a virtually unlimited experimentation time.

Additional battery is plugged into the expansion board (not included in the K4 external charger pack).

Pack include two additional batteries and the charger which can charge up to 2 batteries in about 4 hours.

Additonal battery (the pack includes two of them)

External charger, it can charge up to two batteries in the same time in about 4 hours.

Includes:

  • Kh4 external charger
  • Powersupply
  • Two Khepera IV batteries

Requirements:

LASER RANGE FINDER

Expansion turret can receive in option a Laser Range Finder module. It is used to do navigation, specially for mapping and localization. A laser inside the sensor is scanning robot environment, measuring each 0.36 degrees the distance from any object at its height.

The model which can be used is the URG-04LX-UG01 from the Hokuyo company. Turret gives mechanical support for the sensor and connectivity for it. In option, you can add a battery with the external charger pack in order to save Khepera IV robot autonomy.

Technical specification of the LRF module:

LRF module on expansion turret

Includes:

  • Kh4 expansion turret with the LRF module installed

Requirements:

Software:

  • will be included in the new libkhepera library

User Manual:

INDOOR GLOBAL POSITIONING SYSTEM (STARGAZER)

Stargazer is a module allowing Khepera IV robot to have indoor global position and bearing from passive landmarks marks.

It is used to do navigation, specially for mapping and localization. The module has IR Led’s for lighting landmarks and a camera for capturing the image, which is processed by on-board electronics. It computes position and bearing related to landmarks stuck on the ceiling. It uses the StargazerTM module from Hagisonic co. Ltd.

This is a top module. No module can be plugged above this one.

Includes:

  • Kh4 expansion turret with the Stargazer module installed

Requirements:

Software:

  • will be included in the new libkhepera library

User Manual: