1. Very Large Scale and Fast Prototype
  2. Variety of Modes
  3. Rudder Turning Example


ReMod3D (RM3D) is a general-purpose simulator for autonomous, self-reconfigurable robots. RM3D utilizes the NVIDIA© PhysX© physics engine for its physics calculations which provides users with scalable and high-fidelity three-dimensional simulations of complex robotic modules. RM3D's software architecture makes it highly extensible and suitable for many diverse types of research in the field: locomotion, manipulation, reconfiguration, reasoning, learning and other embodied intelligence applications. RM3D has already been employed to develop a novel modular snake turning gait called Rudder Turning. Videos of the simulator in action -- including a video demonstrating Rudder Turning in RM3D -- can be found above.


Below you will find the source code for the ReMod3D simulator, which can be compiled on Mac OSX, 64-bit Linux machines, and Windows machines (Ubuntu 12.04 LTS 64-bit, Mac OSX 10.8, and Windows 8.1, Visual Studio 2012 Tested). The installation instructions can be found in the source code distribution below. NOTE: due to time constraints, we will be unable to answer emails regarding installation issues, bugs, etc. However, if you would like to become involved in the development of ReMod3D, please feel free to email Thomas Collins at <>

ReMod3D Source(Linux/Mac OSX)
ReMod3D Source(Windows)