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Khepera IV intro

Khepera IV is a compact robot designed for any indoor lab application (table, lab floor).

Compact, it 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 allows 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 odometery and precision.

Introduction to Khepera IV


Based on your experience, feedback and requests, 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. A different sensors precision has also been improved and the odometery is even better than Khepera III.

Khepera IV Architecture


Khepera IV architecture provides exceptional modularity. It is using an extension bus system for nearly unlimited configurations.

The robot includes an array of 8 Infra-red 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, 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 robot, allowing the development of portable embedded algorithms and applications.
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 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.

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