project specification


A compact, modular robot designed for any indoor lab application.



weight540 g
height 140 mm
payload 2,000 g (max)
ground clearance 4 mm
battery Embedded battery, 7.4V Lithium Polymer, 3400mAh


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. 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.


Describes the robot and shows conducted performance evaluations, providing results for all sensors. Also introduces the Khepera IV Toolbox, an open source framework meant to ease application development.

J. Soares, I. Navarro, and A. Martinoli.

This paper describes a new module to create advanced simulations with the Khepera IV mobile robot in V-REP simulator. V-REP provides a unified framework combining many powerful internal and external libraries that are often useful for robotics simulations.

G.Farias, E.Fabregas, E.Peralta, et al. - 2017.

Frequently updated user manual for the KHEPERA robot.



modular machinesmodular robotics

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