This article describes the work accomplished to get a Webots simulator for the Lauron IV robot and how we have solved the difficulties encountered during the project. The evolution of the simulator (and of the different prototypes aimed at obtaining one that ressembles the real robot) incorporating characteristics on it, allow us to work “indistinctly” so much in the real robot as in the simulator. This way, experiences and results can be interchanged between them. In order to be able to develop our study with the Lauron IV, we should do a “physical” use of the robot with the advantages and disadvantages that it implies (refilling of batteries, starting tests, sensor re-calibration, piece wear, etc). Then, we had the idea of developing a project that consisted in developing two applications; the first application was the one that used the Lauron IV robot (the application that moves the robot physically) and the another one was the simulation of the robot able to control the physical robot movements without depending on it.
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