Skip to main content

Locosim: An Open-Source Cross-Platform Robotics Framework

  • Conference paper
  • First Online:
Synergetic Cooperation between Robots and Humans (CLAWAR 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 811))

Included in the following conference series:

  • 180 Accesses


The architecture of a robotics software framework tremendously influences the effort and time it takes for end users to test new concepts in a simulation environment and to control real hardware. Many years of activity in the field allowed us to sort out crucial requirements for a framework tailored for robotics: modularity and extensibility, source code reusability, feature richness, and user-friendliness. We implemented these requirements and collected best practices in Locosim, a cross-platform framework for simulation and real hardware. In this paper, we describe the architecture of Locosim and illustrate some use cases that show its potential.

Michele Focchi, Francesco Roscia: The authors equally contributed to this paper.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
USD 149.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 199.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others


  1. 1.

    Locosim can be downloaded from

  2. 2.

    Some of the functions in Locosim components, which are quite established for the robotics community, are named after [3].

  3. 3.

    A video showing the above-mentioned and other use cases can be found here:


  1. OpenRAVE.

  2. Drake.

  3. Schaal, S.: The SL simulation and real-time control software package, Los Angeles, CA, Technical Report (2009). CLMC.

  4. Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y., et al.: Ros: an open-source robot operating system. In: ICRA Workshop on Open Source Software, vol. 3, no. 3.2, p. 5. Kobe, Japan (2009)

    Google Scholar 

  5. Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No. 04CH37566), vol. 3, pp. 2149–2154. IEEE (2004)

    Google Scholar 

  6. Carpentier, J., Saurel, G., Buondonno, G., Mirabel, J., Lamiraux, F., Stasse, O., Mansard, N.: The Pinocchio C++ library: a fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives. In: IEEE/SICE International Symposium on System Integration (SII), vol. 2019, pp. 614–619. IEEE (2019)

    Google Scholar 

  7. Aliengo.

  8. Go1.

  9. Semini, C., Tsagarakis, N.G., Guglielmino, E., Focchi, M., Cannella, F., Caldwell, D.G.: Design of HYG-a hydraulically and electrically actuated quadruped robot. Proc. Inst. Mech. Eng., Part I: J. Syst. Control Eng. 225(6), 831–849 (2011)

    Google Scholar 

  10. Focchi, M., Bensaadallah, M., Frego, M., Peer, A., Fontanelli, D., Del Prete, A., Palopoli, L.: Clio: a novel robotic solution for exploration and rescue missions in hostile mountain environments (2022). arXiv:2209.09693

  11. UR5.

  12. Roscia, F., Cumerlotti, A., Del Prete, A., Semini, C., Focchi, M.: Orientation control system: enhancing aerial maneuvers for quadruped robots. Sensors 23(3), 1234 (2023)

    Article  Google Scholar 

  13. Ramasubramanian, A.K., Mathew, R., Kelly, M., Hargaden, V., Papakostas, N.: Digital twin for human-robot collaboration in manufacturing: review and outlook. Appl. Sci. 12(10), 4811 (2022)

    Article  Google Scholar 

  14. Lieberman, H., Paternò, F., Wulf, V.: End User Development, vol. 9. Springer, Berlin (2006)

    Google Scholar 

  15. Harris, C.R., Millman, K.J., Van Der Walt, S.J., Gommers, R., Virtanen, P., Cournapeau, D., Wieser, E., Taylor, J., Berg, S., Smith, N.J., Kern, R., Picus, M., Hoyer, S., van Kerkwijk, M.H., Brett, M., Haldane, A., del Río, J.F., Wiebe, M., Peterson, P., Gérard-Marchant, P., Sheppard, K., Reddy, T., Weckesser, W., Abbasi, H., Gohlke, C., Oliphant, T.E.: Array programming with NumPy. Nature 585(7825), 357–362 (2020).

  16. Joseph, L., Cacace, J.: Mastering ROS for Robotics Programming: Design, Build, and Simulate Complex Robots Using the Robot Operating System. Packt Publishing Ltd. (2018)

    Google Scholar 

  17. Frigerio, M., Buchli, J., Caldwell, D.G., Semini, C.: RobCoGen: a code generator for efficient kinematics and dynamics of articulated robots, based on domain specific languages. J. Softw. Eng. Robot. (JOSER) 7(1), 36–54 (2016)

    Google Scholar 

  18. Featherstone, R.: Rigid Body Dynamics Algorithms. Springer, Berlin (2014)

    Google Scholar 

Download references

Author information

Authors and Affiliations


Corresponding author

Correspondence to Francesco Roscia .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Focchi, M., Roscia, F., Semini, C. (2024). Locosim: An Open-Source Cross-Platform Robotics Framework. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 811. Springer, Cham.

Download citation

Publish with us

Policies and ethics