http://www.tu-ilmenau.de

Logo TU Ilmenau

Contact Person

Univ.-Prof. Dr.-Ing. Horst-Michael Groß

Head of department

Phone +49 3677 692858

Send email

INHALTE

Khepera

Overview

Construction: 2001 (Khepera II), 1996 (Khepera I) 

Location: NICR Lab (Zusebau 3049) 

Contact: Dr.-Ing. Klaus Debes

Features

Hardware Platform:K-Team, Y-Parc - Rue Galilée 9, 1400 Yverdon-les-Bains, Switzerland
Size:
  • diameter 70mm
  • height 30mm
  • weight 80g
Drive:
  • differential drive
  • 2 driven wheels
  • 2 castor points, 0,02 . . 0,5 m/s
Sensors:
  • 8 infra-red (range 100mm)
  • 3 analog inputs (0-4.3V, 8bit)
  • communication standard serial port, up to 115kbps
  • incremental encoders (roughly 12 pulses per mm of robot motion)
  • front camera
  • omni-directional camera (analog)
Onboard-PC:
  • Motorola 68331, 25MHz
  • RAM 512 Kbyte, Flash 512 Kbytes (Programmable via serial port)
  • (Khepera I: Motorola 68331 CPu, 16 MHz, 256 KB RAM, 512 KB EEPROM)
Power Supply:
  • NiMh-Accu
  • max. 1h operating time
Other:
  • serial port for power supply and communication for higher level applications
  • remote control software for Labview, Matlab and Sysquake

Pictures

click on a picture to enlarge

Khepera 1 (2011)
Khepera 2 (2011)