A Comparison of Humanoid Robot Simulators: A Quantitative Approach

Understand

Research on humanoid robotic systems involves a considerable amount of computational resources, not only for the involved design but also for its development and subsequent implementation.

• For robotic systems to be implemented in real-world scenarios, in several situations, it is preferred to develop and test them under controlled environments in order to reduce the risk of errors and unexpected behavior.
• In this regard, a more accessible and efficient alternative is to implement the environment using robotic simulation tools.
• This paper presents a quantitative comparison of Gazebo, Webots, and V-REP, three simulators widely used by the research community to develop robotic systems.