| Koala Base Specification | |
| Elements | Technical Information |
| Processor | Motorola 68331 @ 22MHz |
| RAM | 1 MByte |
| ROM | 1 MByte |
| Motion | 2 DC brushed servo motors with integrated incremental encoders (~19 pulses per mm of robot motion) |
| Speed |
0.60 m/s absolute maximum with direct control 0.38 m/s maximum using factory default PID speed controller 0.005 m/s minimum using factory default PID speed controller |
| Acceleration | 0.075 m/s² maximum using factory default PID controller |
| Slope Traversal | 43° maximum |
| Clearance | 30mm |
| Sensors |
16 Infra-red proximity and ambient light sensors 4 optional triangulation longer-range IR sensors Up to 6 optional ultrasonic sonar sensors Battery and ambient temperature Motor torque and global power consumption |
| Power |
Rechargeable NiMH Battery with charge level memory The battery pack can be easily removed and replaced. |
| Autonomy (4Ah battery) |
Approximately 6 hours (moving continuously without payload) Approximately 4 hours (moving continuously with maximum payload) |
| Extension Bus |
Expansion modules can be added to the robot such as the KoreBot or PC104 boards. An accessory deck is provided at the front of the robot for mounting any other custom equipment. Khepera turrets (with local processor) are also supported using an adaptor turret. |
| User Available I/O |
12 digital inputs [5..12V] 4 CMOS / TTL digital outputs 8 power (open collector) digital outputs [12V 250mA/output] 6 analog inputs (10 bit A/D converter, 4.096v range) |
| Size |
Length: 32cm Width: 32cm Height: 20cm |
| Weight |
4kg with battery 3.6kg with DC-DC converter |
| Payload | 3kg maximum |