Development of a Khepera IV Library for the V-REP Simulator

E. Peralta, E. Fabregas, G. Farias, H. Vargas, S. Dormido

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


This paper presents a library for V-REP simulator to incorporate the Khepera IV robot model. The library contains the model of this robot and some examples of use with its corresponding results. The library has been developed using Autodesk Inventor for the visual design and Lua language for the programming code. This library allows the implementation of experiments with one robot and multi-robots approaches. After using the library in the V-REP environment, users can transform many of the simulations into real experiments with the Khepera IV robots.

Original languageEnglish
Pages (from-to)81-86
Number of pages6
Issue number6
StatePublished - 2016


  • Khepera IV
  • V-REP
  • Wheeled Robots


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