Unfortunately it is not focused on humanoid robots. Currently, Webots supports the Nao V3.3, V4 and V5 versions, with and without their articulated fingers (respectively with 25 and 21 degrees of freedom) for the first two.
Webots for nao how to#
This section explains how to use Nao robot simulated in Webots. NB: Another nice robotics simulator is MORSE. The Nao robot is a humanoid robot developed by SoftBank Robotics (formerly known as Aldebaran Robotics). It offers predefined NAO simulations with their ready-to-use controllers. Webots for NAO is a specific release of Webots 7, exclusively dedicated to the use of a simulated NAO. It offers a safe place to test behaviors before playing them on a real robot. One walking behavior is the Move To box in Choregraphe the other is a walkin. Webots for NAO allows you to launch a simulated NAO moving in a virtual world. Long story short, because of the community size, the fact it is used in the Darpa Challenge ( see here) and its nice ROS features among these three simulators I would choose Gazebo. This video demonstrates 2 different walking behaviors on a simulated NAO robot. The fact that it is bundled with Nao/Romeo should not be a major criteria for your decision, it is not that hard to port a model from one system to another (or even patching an open-source project to load a new file format is not that difficult either). Then comes all the other features (ROS integration, sensor simulation, ease of use). If you plan on working on control algorithms for humanoid robots then you should first review if other people doing humanoid robotics are using it and how good is the result. This is crucial for us as these robots are big, costly and powerful. This tutorial shows how to interface Aldebaran's Choregraphe 1.14.5 with a simulated NAO robot in Webots EDU 7.4.3.
This is the most crucial part when it comes to human-size humanoid robots. This is mainly due to the high fidelity of the dynamics simulation. I do not know very well these simulators, as far as we are concerned, HRP-2 users, we are working with the OpenHRP simulator.
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