diff --git a/cpprevolve/revolve/gazebo/plugin/RobotController.cpp b/cpprevolve/revolve/gazebo/plugin/RobotController.cpp
index e5a4caafd6..913335b796 100644
--- a/cpprevolve/revolve/gazebo/plugin/RobotController.cpp
+++ b/cpprevolve/revolve/gazebo/plugin/RobotController.cpp
@@ -17,6 +17,8 @@
 *
 */
 
+#include  <stdexcept>
+
 #include <gazebo/sensors/sensors.hh>
 
 #include <revolve/gazebo/motors/MotorFactory.h>
@@ -203,6 +205,10 @@ void RobotController::LoadBrain(const sdf::ElementPtr _sdf)
   {
     brain_.reset(new DifferentialCPG(this->model_, brain, motors_, sensors_));
   }
+  else
+  {
+    throw std::runtime_error("Robot brain is not defined.");
+  }
 }
 
 /////////////////////////////////////////////////