A 3D simulator of multiple legged robots based on USARSim. Zaratti, M.; Fratarcangeli, M.; and Iocchi, L. In Proceedings of 10th International Robocup 2006 Symposium, 2006. Springer. Best paper award
bibtex   
@inproceedings{ Zaratti06a3d,
  title = {A 3D simulator of multiple legged robots based on USARSim},
  author = {Zaratti, Marco and Fratarcangeli, Marco and Iocchi, Luca},
  booktitle = {Proceedings of 10th International Robocup 2006 Symposium},
  year = {2006},
  note = {Best paper award},
  publisher = {Springer},
  pdf = {www.fratarcangeli.net/papers/robocup.zaratti.pdf},
  video = {https://www.youtube.com/watch?v=ubOgslN8pbI}
}
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