Checking date: 10/07/2020

Course: 2020/2021

Robot Simulators
Study: Master in Robotics and Automation (77)


Department assigned to the subject: Department of Systems Engineering and Automation

Type: Electives
ECTS Credits: 3.0 ECTS


Requirements (Subjects that are assumed to be known)
Computer programming Recommended: Industrial Robotics
Learn about the different types of free and proprietary simulators, their components, architecture and modeling. Different programming methods are studied. Thanks to the subject project, the student learn different functionalities of a given simulator. The objective of the subject is the introduction to Robot Simulators from both the theoretical and practical aspects. The importance of research and development is highlighted. It will allow students to acquire the basic knowledge of robot control and programming. To achieve this, we have tried to achieve a balance between the theoretical aspects, the study of the components that compose a robot (mechanical, computer and control), and applications. With the proposed exercises, which are to be performed on free simulators, it is intended to reinforce the knowledge acquired in the most theoretical parts of the classes. The practical component is completed with a simulation work in which a process or component has to be designed, programmed and analyzed.
Description of contents: programme
1. Introduction to robot simulators 1.1. Introduction 1.2. Why use a simulator? 1.3. Components of a simulator 1.4. Free and proprietary simulators 1.5. Additional software tools 2. Robot Simulator: Gazebo 2.1. Introduction 2.2. Interacting with Gazebo 2.3. Gazebo Files 2.3.1. File formats 2.3.2. SDF 2.3.3. URDF 2.3.4. ROS launch file 2.4. Gazebo Plugins 2.4.1. Creating plugins for Gazebo 2.4.1. Creating Gazebo environments that load plugins 3. Robot simulator: OpenRAVE 3.1. Introduction 3.2. Interacting with OpenRAVE 3.3. OpenRAVE files 3.4. OpenRAVE plugins 3.4.1. Creating plugins for OpenRAVE
Learning activities and methodology
After the theoretical and practical parts of the subject, an analysis and implementation project is proposed. The evaluation is based on the continuous evaluation, the exhibition and the presented document.
Assessment System
  • % end-of-term-examination 0
  • % of continuous assessment (assigments, laboratory, practicals...) 100
Basic Bibliography
  • Ivaldi, Serena, et Al. Tools for simulating humanoid robot dynamics: a survey based on user feedback. 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014). 2014
  • Joseph, Lentin. Mastering ROS for robotics programming. Packt Publishing Ltd. 2015
  • Newman, Wyatt. A Systematic Approach to Learning Robot Programming with ROS. CRC Press. 2017
  • Rosen Diankov and James Kuffner. OpenRAVE: A Planning Architecture for Autonomous Robotics. Tech Report CMU-RI-TR-08-34. Robotics Institute, Carnegie Mellon University. 2008
Recursos electrónicosElectronic Resources *
Additional Bibliography
  • Eckel, Bruce. Thinking in C++ (2nd edition). Prentice Hall. 2000
(*) Access to some electronic resources may be restricted to members of the university community and require validation through Campus Global. If you try to connect from outside of the University you will need to set up a VPN

The course syllabus and the academic weekly planning may change due academic events or other reasons.