Abstract: To facilitate the research on gait of biped walking in humanoid robotics, design and implementation of a simulation platform based on Microsoft Robotics Developer Studio(MRDS) were discussed in this paper. Simulated robot modelling was conducted and the design patterns of robotics application under ServiceOriented Architecture were studied. Concurrent and coordinate control of robot behaviour were achieved and realized. Successful experiments, both on biped walking and basic vision, demonstrate that the platform can be expected to provide basic support for further control algorithm research.