Abstract: To get open,flexible,and compact properties of simulators,an ODE(open dynamics engine) based integration solution of humanoid robot simulator is presented.The development procedure of the ODE based humanoid robot simulator is defined as two kinds of operations,i.e.transform summation and joint summation,and the ODE algorithms of the two operations are given.The structure of a humanoid robot is described by a robot structure table that can be understood by simulator designers and the computer.The robot structure table is translated into ODE elements to realize simulation.A humanoid robot simulation platform based on the proposed method is designed and realized.The biped walking experiment using an inverted pendulum based gait planning method is realized on the simulator.The experiment results prove the effectiveness of the presented methods.