The　simulation　results　of　traditional　system　simulation,　whose　technology　is　based　on　the　solution　of　mathematical　model,　are　mostly　numerical　curve,　lack　of　telepresence,　third　dimension　and　immersive.　According　to　this　problem,　virtual　reality　technology　ODE　(Open　Dynamics　Engine)　is　used　for　the　simulation　of　characteristic　parameters　on　wheeled　self-balancing　robot.　A　wheeled　robot　model　having　the　feature　of　real　robot＇s　kinematics　and　dynamics　has　been　built　in　virtual　reality　environment　to　achieve　free　balance,　fixed-point　balance,　speed　tracking,　heading　control　and　linear　obstacle　negotiating.　And　related　procedures　have　been　designed　for　real-time　detection　of　model　parameters　and　export　of　simulation　data　which　provide　a　reliable　basis　for　the　experimental　study.　©　2011　IEEE.