diff --git a/examples/pybullet/robotcontrol.py b/examples/pybullet/robotcontrol.py
new file mode 100644
index 000000000..e94d6d5ba
--- /dev/null
+++ b/examples/pybullet/robotcontrol.py
@@ -0,0 +1,30 @@
+import pybullet as p
+p.connect(p.GUI) #or p.SHARED_MEMORY or p.DIRECT
+
+p.loadURDF("plane.urdf")
+p.setGravity(0,0,-10)
+huskypos = [0,0,0.1]
+
+husky = p.loadURDF("husky/husky.urdf",huskypos[0],huskypos[1],huskypos[2])
+numJoints = p.getNumJoints(husky)
+for joint in range (numJoints) :
+	print (p.getJointInfo(husky,joint))
+targetVel = 10 #rad/s
+maxForce = 100 #Newton
+
+for joint in range (2,6) :
+	p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
+for step in range (300):
+	p.stepSimulation()
+
+targetVel=-10
+for joint in range (2,6) :
+        p.setJointMotorControl(husky,joint,p.VELOCITY_CONTROL,targetVel,maxForce)
+for step in range (400):
+        p.stepSimulation()
+
+p.getContactPointData(husky)
+
+p.disconnect()
+
+