Khepera IV



Introduction Specifications Linux OS Manuals / Downloads Distributors



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

The pack includes

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


Khepera IV Specifications

Elements Technical Information
Processor Linux core running on a 800MHz ARM Cortex-A8 Processor with C64x Fixed Point DSP core and additional microcontroller for peripherals management
RAM 512 MB
Flash 512 MB plus additional 4GB for data
Motion 2 DC brushed motors with incremental encoders (roughly 147 pulses per mm of robot motion) and gearbox
Speed Max 1m/s in openloop and 0.8m/s with Factory default PID speed controller
Min 0.003m/s with Factory default PID speed controller
Sensors 8 Infra-red proximity and ambient light sensors with up to 25cm range,
4 Infra-red ground proximity sensors for line following applications and fall avoidance,
5 Ultrasonic sensors with range 25cm to 2 meters,
3-axis accelerometer and 3-axis gyroscope
Audio 1x embedded microphone
1x 0.7W speaker (400-20’000Hz)
Video Integrated color camera (752×480 pixels, 30FPS)
LED 3 programmable RGB LED on top of the robot
AC adapter power 9V @ 2.5A
Autonomy Approximately 7 hours.
Additional turrets will reduce battery life.
Battery Embedded battery, 7.4V Lithium Polymer, 3400mAh
Docking Ready for docking (Power input and I2C communication)
Communications 1x USB 2.0 host (500mA), 1x USB 2.0 device, 802.11 b/g WiFi, Bluetooth 2.0 EDR
Extension Bus Expansion modules can be added to the robot using the KB-250 bus.
Size Diameter: 140 mm
Height: 58 mm
Weight 540g
Max. payload Approx. 2000 g
Ground clearance 4 mm. Use only on hard and flat surfaces
Turn radius 0cm
Operating temperature 0-40°C
Development Environment for Autonomous Application GNU C/C++ compiler, for native on-board applications.