Comparative Table
Simulation Tools for Real Robots

Goal: This table will help researchers and teachers to choose the simulation tool that best suits their needs. If you believe it is uncomplete or contains erroneous information, please send me an e-mail at Olivier.Michel@epfl.ch, this will help us to keep this table up to date.

Disclamer: this is the very first version of the table and hence it is very uncomplete. Please be patient...

tool
 description
 license platform
 physics simulation
 type of robot simulated
 multi-robot
 3D display
 simulated sensors
 simulated actuators
 transfer to real robots
  multi-media documentation comments
DDSim Robot Simulation and Rapid Prototyping Tool











Mobile Robot Simulator












Modular 3D Simulator












Robot Simulator












SimRobot Sony Four-Legged Robot Soccer Simulator











ÜberSim












Webots
 Commercial Mobile Robot Simulator
 Commercial.
USD 200 (Webots STD/EDU)
USD 1600 (Webots PRO)
 Windows,
Linux and
Mac OS X
 yes, uses ODE
 user configurable: wheeled, legged, flying.
 yes, unlimited
 yes, OpenGL accelerated
 cameras (color, B&W, depth, 2D, linear), distance sensors, GPS, light sensors, receivers (radio, IR), range finders,
servo position sensors, touch sensors, wheel encoders
 grippers,
emitters (radio, IR), LEDs,
motor wheels, servos, wheels
 K-Team Khepera: remote control  and cross-compilation

LEGO Mindstorms: cross-compilation with LeJOS

K-Team Hemisson: BotStudio graphical programming and cross-compilation

Sony Aibo: cross-compilation with OPEN-R
 exports MPEG / AVI movies 116 page user guide, including a tutorial.
64 page reference manual.
 evaluation version availalable upon request to sales@cyberbotics.com
XRaptor multi-agent simulator