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Khepera mobile robot facts for kids

Kids Encyclopedia Facts
Khepera III robot
A Khepera III robot at the Georgia Institute of Technology
Khepera mobile robot
The first generation Khepera robot released in 1996

The Khepera is a small (5.5 cm) differential wheeled mobile robot that was developed at the LAMI laboratory of Prof. Jean-Daniel Nicoud at EPFL (Lausanne, Switzerland) in the mid '90s. It was developed by Edo. Franzi, Francesco Mondada, André Guignard and others.

Small, fast, and architectured around a Motorola 68331, it has served researchers for 10 years, widely used by over 500 universities worldwide.

Scientific impact

The Khepera was sold to a thousand research labs and featured on the cover of the 31 August 2000 issue of Nature. It appeared again in a 2003 article [1].

A Google scholar search with khepera mobile robots returns 4800 hits [2]. The Khepera helped in the emergence of evolutionary robotics [3][4].

Technical details

Original version

  • Diameter: 55 mm
  • Height: 30 mm
  • Empty weight: 80 g
  • Speed: 0.02 to 1.0 m/s
  • Autonomy: 45 minutes moving
  • Motorola 68331 CPU @ 16 MHz
  • 256 KB RAM
  • 512 KB EEPROM
  • Running µKOS RTOS
  • 2 DC brushed servo motors with incremental encoders
  • 8 infrared proximity and ambient light sensors (SFH900)

2.0 Version

  • Motorola 68331 CPU @ 25 MHz
  • 512 KB RAM
  • 512 KB Flash
  • Improved batteries and sensors

Version 4

  • 800 MHz ARM Cortex-A8 Processor
  • Weight: 540g
  • 256 MB RAM
  • 512 MB plus additional 8GB for data
  • Battery: 7.4V Lithium Polymer, 3400mAh


Several extension turrets exist for the Khepera, including:

  • Gripper
  • 1D or 2D camera, wire or wireless
  • Radio emitter/receiver, low and high speed
  • I/0
  • Mondada, F., Franzi, E., Guignard, A. (1999), The Development of Khepera. In proceedings of First International Khepera Workshop, Paderborn, 10–11 December 1999. PDF BibTex EPFL Infoscience entry
  • Webots – A commercial software that simulates and allows cross-compilation and remote control of the Khepera and other robots
  • – Yet Another Khepera Simulator
  • Khepera III Toolbox – A software toolbox for the Khepera III robot
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