Khepera IV

Linux Core running on a 800MHz ARM Cortex-A8 Processor

512 MB flash Ram plus additional

8GB for data

8 Infra-red proximity, 4 Infra-red ground proximity, 5 Ultrasonic sensors, 3-axis accelerometer and 3-axis gyroscope

Khepera IV embeds state of the art features. It is a compact robot designed for any indoor lab application (table, lab floor) and requires a small space to operate, even in swarm. With its high flexibility, the Khepera IV robot can be used in almost any application such as navigation, swarm, artificial intelligence, computation, demonstration, etc . Thanks to the KB-250 bus which allow you to stack many different extensions in a few seconds on the top of the robot, providing an unbeatable modularity.

The newest generation of Khepera is bringing with it a whole lot of new features such as embedded Linux core, color camera, WiFi, Bluetooth, USB Host, accelerometer, gyroscope, microphone, loudspeaker, 3 top RGB LED, improved odometry and precision.

INTRODUCTION TO KHEPERA IV

Khepera IV embeds state of the art features

Based on your experience, feedback and requests, the Khepera IV now integrates a powerful Linux core with WiFi, Bluetooth, accelerometer, gyroscope, color camera and a larger battery.More stable than ever, you can now plug more extensions on the robot. The different sensors precision has also been improved and the odometry is even better than the Khepera III.

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 includes an array of 8 Infrared Sensors for obstacle detection with 4 more for fall avoidance or line following as well as 5 Ultrasonic Sensors for long range object detection. The robot’s motor blocks are using very high quality DC motors for high efficiency and accuracy. The internal battery provides a running time of about 7 hours.

Khepera IV Embedded Linux Support

With its Linux core, the Khepera IV embeds a complete standard Linux Operating System. It provides a well known standard C/C++ environment for application development. Almost any existing library can be easily ported on the Khepera IV, allowing the development of portable embedded algorithms and applications.The Khepera IV is the new standard tool for robotic experiments and demonstrations such as:

  • Navigation
  • Artificial
  • Intelligence
  • Multi-Agent System
  • Control
  • Collective Behaviour
  • Real-Time Programming
  • Advanced Electronics Demonstration
Evaluation of the robot

The performance evaluation of the Khepera IV is available here (courtesy of the DISAL from the EPFL).

We thank the DISAL form the EPFL for this review, especially Soares, Jorge Miguel; Navarro Oiza, Inaki; Martinoli, Alcherio.

SIMULATOR COMPATIBLE






WEBOTS SIMULATOR

SPECIFICATIONS

Main Features

  • Compact
  • Easy to Use
  • Powerful Embedded Computing Power
  • High capacity embedded battery with possibility to add extra capacity
  • Multiple sensor arrays
  • KoreBot-compatible Extension bus
  • High quality and high accuracy DC motors
  • Embedded color camera
  • Internal microphone and loudspeaker
  • Internal WiFi and Bluetooth antennas
  • 3 axis gyroscope and accelerometer

Pack includes

  • Robot including high performance CPU and battery
  • Power supply for recharge the battery
  • USB Cable
  • Documentation

LINUX OS

Embedded Linux OS

Khepera IV is running a full standard embedded Linux Operating System. All applications are developped using the embedded Linux environement which provides several major benefits for developpers. A new library, the libkhepera, is also provided to interface applications with all the robot peripherals and extensions.

Standard Linux Kernel

Linux kernel is known for its stability and efficiency. Applications will rely on a virtually bug free kernel and will be unable to cause system failures.

Filesystem in Flash Memory

The robot supports a real flash filesystem. Applications can read, create and modify files or directories for data logging, configuration files reading, data storage, etc.

Support for most Common Devices using Standard Drivers

Most USB devices are supported by the Khepera using standard Linux drivers.

Support Standard Libraries for Application Development

Application developer can first rely on the standard C libraries, including all the classic utilities of a Posix system. Moreover, almost any library can be ported on the robot, providing a limitless repository for quick application development.

Quick and Easy Installation of New Software Packages using ipkg

The Linux distribution is based on the Familiar distribution for embedded devices. It supports the ipkg package system for installation of new software. New packages can be downloaded from ipkgfind website.