Webots User Guide

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Foreword

Thanks

1.Installing Webots

2.Upgrading from Webots 2

3.Getting Started with Webots

4.Tutorial: Modelling and simulating your robot

5.Robot and Supervisor Controllers

6.Tutorial: Using the KheperaTM robot

7.ALife Contest

     

Foreword

Webots is a three-dimensional mobile robot simulator. It was originally developed as a research tool for investigating various control algorithms in mobile robotics.

This user guide will get you started using Webots. However, the reader is expected to have a minimal knowledge in mobile robotics, in C programming and in VRML 2.0 (Virtual Reality Modeling Language).

The great innovation of the third version of Webots is that any robot with two-wheel differential steering can be modelled and simulated. Predefined objects like shapes, sensors and axles allow users to create and run their own simulated robot. Thus, Webots is no longer limited to the Khepera and Alice robots.

The GUI of Webots version 2 has been replaced by GTK+, an Open Source Free Software GUI toolkit.

If you have already developed programs using Webots 2.0, please read chapter 2 to update your programs to run with the new version.

We hope that you will enjoy working with Webots .

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