A comparison of humanoid robot simulators: a quantitative approach

Ayala, Angel, Cruz Naranjo, Francisco, Campos, Diego, Rubio, Rodrigo, Fernandes, Bruno and Dazeley, Richard 2020, A comparison of humanoid robot simulators: a quantitative approach, in ICDL-EpiRob 2020 : Proceedings of the 10th IEEE International Conference on Development and Learning and Epigenetic Robotics, Institute of Electrical and Electronics Engineers, Piscataway, N.J., pp. 1-6, doi: 10.1109/ICDL-EpiRob48136.2020.9278116.

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Title A comparison of humanoid robot simulators: a quantitative approach
Author(s) Ayala, Angel
Cruz Naranjo, FranciscoORCID iD for Cruz Naranjo, Francisco orcid.org/0000-0002-1131-3382
Campos, Diego
Rubio, Rodrigo
Fernandes, Bruno
Dazeley, RichardORCID iD for Dazeley, Richard orcid.org/0000-0002-6199-9685
Conference name IEEE Computational Intelligence Society. International Conference (10th : 2020 : Online from Valparaiso, Chile)
Conference location Online from Valparaiso, Chile
Conference dates 2020/10/26 - 2020/10/30
Title of proceedings ICDL-EpiRob 2020 : Proceedings of the 10th IEEE International Conference on Development and Learning and Epigenetic Robotics
Editor(s) [Unknown]
Publication date 2020
Series IEEE Computational Intelligence Society International Conference
Start page 1
End page 6
Total pages 6
Publisher Institute of Electrical and Electronics Engineers
Place of publication Piscataway, N.J.
Keyword(s) robotic simulator
simulation tools comparison
humanoid robot
NAO
Summary 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.
Notes This conference was originally scheduled to be held in Valparaiso, Chile, however due to the 2020 COVID Pandemic, the event was held online.
ISBN 9781728173061
Language eng
DOI 10.1109/ICDL-EpiRob48136.2020.9278116
Indigenous content off
HERDC Research category E1 Full written paper - refereed
Persistent URL http://hdl.handle.net/10536/DRO/DU:30147910

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