KControl version 0.4.8

This page is about my control and monitor program for the well known Khepera® robot from the K-Team. It can be used to evaluate algorithms developed in the fields of robotics and artificial life in real time and on a real robot.


  1. Program Features
  2. Library Features
  3. Preview
  4. Download

Program Features

The kcontrol program evolved over time from a simple imperative controlling program into a full equipped testbed with numerous advantages. It can be used to control and monitor several learning tasks/algorithms executed by the real robot and incluses many new features. news star

Library Features

The library has been extended too and supports now a message queueing scheme to reduce the used bandwidth over the serial line as well as stacked arrays for the sensory inputs to hold and retrieve sensor data up to sixteen steps back in time.


The look of the kcontrol has undergone some changes too and is now split up into Thats how kcontrol looks like

The main window screenshot of the main window
screenshot of the desk
and a sample desktop with all possible kinds of windows from kcontrol.


might be out of date


The Makefile should work fine on Suns and Linux-Boxes without any changes. Run it twice ;-).

Download and install

I guess you expect the newest version here ;-). Hold the shift key and press the left mousebutton on the URL to download these files if you are using netscape.

kcontrol-package-0.4.8.tgz (about 300 kBytes)

There is also a loader program for serial communications, a serial-to-network forwarder and a simple tcp echo server included in the archive. You have to install the supplied libraries first. Change to the apropriate directory and type

make forcedep
make install
After the program has been installed you can run the program within the bash-shell with:


You have to set the jumpers on the khepera to mode 3 (38400 Baud) in order to work with kcontrol. Happy driving with your khepera.


kcontrol,libkhepera,libtns_util,libxfgc Copyright 1997,1998,1999 by Thomas Pantzer

Permission to use, copy, modify, and distribute this software for non-commercial and non-military use and without fee is hereby granted, provided that the above copyright notice appear in all copies and that both that copyright notice and this permission notice appear in supporting documentation, and that the name of the Author not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. The Author makes no representations about the suitability of this software for any purpose. It is provided "as is" without expressed or implied warranty.

maintained by Thomas Pantzer ,
mailto pantec@aix520.informatik.uni-leipzig.de,
PGP public key available