A 3D Simulator of Multiple Legged Robots Based on USARSim

  • Marco Zaratti
  • Marco Fratarcangeli
  • Luca Iocchi
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4434)


This paper presents a flexible 3D simulator able to reproduce the appearance and the dynamics of generic legged robots and objects in the environment at full frame rate (30 frames per second). Such a simulator extends and improves USARSim (Urban Search and Rescue Simulator), a robot simulator in turn based on the game platform Unreal Engine. This latter provides facilities for good quality rendering, physics simulation, networking, highly versatile scripting language and a powerful visual editor. Our simulator extends USARSim features by allowing for the simulation and control of legged robots and it introduces a multi-view functionality for multi-robot support. We successfully tested the simulator capabilities by mimicking a virtual environment with up to five network-controlled legged robots, like AIBO ERS-7 and QRIO.


Virtual Environment Real Robot Multiple Robot Controller Robot Legged Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. 1.
    Carpin, S., Wang, J., Lewis, M., Birk, A., Jacoff, A.: High fidelity tools for rescue robotics: results and perspectives. In: Proc. of RoboCup Symposium (2005)Google Scholar
  2. 2.
    Gerkey, B., Vaughan, R.T., Howard, A.: The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems. In: Proceedings of the 11th International Conference on Advanced Robotics (July 2003)Google Scholar
  3. 3.
    Koenig, N., Howard, A.: Gazebo - 3D Multiple Robot Simulator with Dynamics (2006),
  4. 4.
    Laue, T., Spiess, K., Röfer, T.: SimRobot - A General Physical Robot Simulator and its Application in RoboCup. In: Proc. of RoboCup Symposium. Universität Bremen (2005)Google Scholar
  5. 5.
    Mathengine: MathEngine Karma User Guide (March 2002)Google Scholar
  6. 6.
    Wang, J., Lewis, M., Gennari, J.: A game engine based simulation of the NIST Urban Search & Rescue arenas. In: Proceedings of the 2003 Winter Simulation Conference (2003)Google Scholar
  7. 7.
    Zagal, J.C., Ruiz-del, J.: Solar. UCHILSIM: A Dynamically and Visually Realistic Simulator for the RoboCup Four Legged League. In: Nardi, D., Riedmiller, M., Sammut, C., Santos-Victor, J. (eds.) RoboCup 2004. LNCS (LNAI), vol. 3276, Springer, Heidelberg (2005)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Marco Zaratti
    • 1
  • Marco Fratarcangeli
    • 1
  • Luca Iocchi
    • 1
  1. 1.Dipartimento di Informatica e Sistemistica, Università “La Sapienza”, Rome, Italy, Via Salaria 113 00198 RomeItaly

Personalised recommendations