ADAMSim: PyBullet-Based Simulation Environment for Research on Domestic Mobile Manipulator Robots

Authors

DOI:

https://doi.org/10.17979/ja-cea.2025.46.12217

Keywords:

Robot simulation, Digital twin, PyBullet, Real-to-Sim, Sim-to-Real, Mobile manipulator

Abstract

This paper introduces ADAMSim, a PyBullet-based simulation environment tailored for Ambidextrous Domestic Autonomous Manipulator (ADAM), developed to support research in navigation, manipulation, and learning for domestic robotics. The simulator accurately replicates the structure and behavior of the physical robot, enabling robust sim-to-real and real-to-sim algorithm transfer. ADAMSim follows a modular design, including navigation, arm and hand kinematics, perception, and ROS communication. This architecture allows synchronized operation between the real robot and its digital twin. Several example applications were developed, ranging from vision and grasping tasks to navigation and teleoperation, including experiments running both simulated and real robots simultaneously. Its open-source and flexible design makes ADAMSim a powerful tool for safe and reproducible algorithm development and experimentation in household robotics. The platform is also intended to support future research in indoor mapping, advanced manipulation learning, and educational projects, serving as a test bed.

Author Biography

  • Adrian Prados, Universidad Carlos III de Madrid
    My name is Adrián Prados  and I am currently studying a Ph.D. in Electrical, Electronics and Automation Engineering. Since i was a kid I have been passionate about robotics and I have always wanted to investigate into this wide world. I received my degree in Industrial Electronics and Automation Engineering at UC3M in 2021 and my M.Sc. degree in Robotics and Automation at UC3M in 2023.  My interests include path planning, mapping , navigation with mobile robots, manipulation (which was the subject of my final degree project), reinforcement learning and imitation learning (the subject of my final master project). Right now I am working in the HEROITEA project, where we are developing a robot to help elder people in diferent every day actions like could be cook.    Since 2023, I am pursuing my PhD studies. The main topic of my research focuses on the application of Imitation Learning (also known as Learning from Demonstration) techniques to manipulation tasks. The idea is to facilitate the use of robots by people with no prior knowledge, allowing them to teach the robot how they want a task to be done in different environments and constraints.   Some of the project in which I am working can be seen here well as open source code available on my GitHub profile.

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Published

2025-09-01

Issue

No. 46 (2025)

Section

Robótica

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Copyright (c) 2025 Adrian Prados, Gonzalo Espinoza, Alberto Mendez, Alicia Mora, Santiago Garrido, Ramon Barber

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This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.