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 Behavior
- 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.
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
The pack includes
- The robot including high performance CPU and battery
- Power supply for recharge the battery
- USB Cable
- Documentation
Price:
- Recommended price : 2700 CHF (excluding local taxes and shipping costs)
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 | 256 MB |
| Flash | 512 MB plus additional 8GB 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 |
| 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. |
| Other language | Python 2.7.9 |
LINUX OS
Embedded Linux OS
The 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
The 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.
MANUAL / DOWNLOADS
Last version V4.0 – Yocto with Distro 1.8 or higher:
Manuals
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- User manual: Kh4.Robot.UserManual.pdf
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