The simulator models the physical characteristics of the robot, including its dynamics, and the way that a real robot interacts with the environment. The simulator is based on the Open Dynamics Engine (ODE). The ODE provides tools for simulation of rigid body dynamics and of complex structures with defined joints. It also provides an engine to detect collisions and to simulate friction between bodies. Each robot link is represented by a cube with the appropriate dimensions and mass. The simulator provides virtual measurements of all the kinematic variables of the robot, as well as the forces/moments in all the joints. Simple visualization of the robot model is implemented by using the OpenGL routines.


  1. D. Belter, P. Skrzypczyński, K. Walas, P. Fankhauser, C. Gehring, M. Hutter, M. Hoepflinger, R. Siegwart, Dynamic simulation of legged robots using a physics engine, Mobile Service Robotics, World Scientific, K. Kozłowski et al. (Eds.), Singapore, pp. 567-574, 2014
  2. D. Belter, P. Skrzypczyński, Population Based Methods for Identification and Optimization of a Walking robot Model, Lectures Notes in Control and Information Sciences: Robot Motion and Control, K. R. Kozłowski (Ed.), pp. 185-195, 2009

  3. D. Belter, P. Skrzypczyński, Integrated motion planning for a hexapod robot walking on rough terrain, 18th IFAC World Congress, Milan, Italy, pp. 6918-6923, 2011 (pdf)