The robot dynamics and kinematics equation based on Danevit-Hartenberg was educed and a virtual model of humanoid robot was developed. The simulator can emulate the dynamics of the robot and test the control algorithms, which are the virtual counterpart of the hardware robot platform for the humanoid robotic; the controller can handle a dynamic balance control, a biped locomotion and trajectory planning, etc. The simulator can also verify the accuracy of the simulation by experiments in the real world. A large number of simulations were done and the snapshot of the Humanoid Robot’s leg doing a particular action was given. The experiment proved that the method was effective and feasible. Thus, the foundation was laid for the next phase of the control algorithm research.