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A comparison of humanoid robot simulators: a quantitative approach

conference contribution
posted on 2020-01-01, 00:00 authored by A Ayala, F Cruz Naranjo, D Campos, R Rubio, B Fernandes, Richard DazeleyRichard Dazeley
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 realworld 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. To compare the performance of these three simulators, elements such as CPU, memory footprint, and disk access are used to measure and compare them to each other. In order to measure the use of resources, each simulator executes 20 times a robotic scenario composed by a NAO robot that must navigate to a goal position avoiding a specific obstacle. In general terms, our results show that Webots is the simulator with the lowest use of resources, followed by V-REP, which has advantages over Gazebo, mainly because of the CPU use.



IEEE Computational Intelligence Society. International Conference (10th : 2020 : Online from Valparaiso, Chile)


IEEE Computational Intelligence Society International Conference


1 - 6


Institute of Electrical and Electronics Engineers


Online from Valparaiso, Chile

Place of publication

Piscataway, N.J.

Start date


End date






Publication classification

E1 Full written paper - refereed



Title of proceedings

ICDL-EpiRob 2020 : Proceedings of the 10th IEEE International Conference on Development and Learning and Epigenetic Robotics