Abstract
This paper focuses on the creation of a realistic simulation of a humanoid robot in a virtual environment. This model will help researchers to implement and study different behaviours of the humanoid robot Robo-Erectus without its physical presence. The dynamics and the appearance of the robot and the other objects within the simulator are faithfully reproduced in the virtual environment. Moreover, the virtual robot can be controlled with the same program controlling the real robot. The simulator has been used successfully to generate and test behaviours for the robot to prepare for the RoboCup 2008.