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The humanoid bipedal robot WABIAN-2R was developed to be used as human motion simulator. It is able to perform similar human-like walking motion. Moreover, the robot is able to perform walking motions with a walking support device. This walking device was moving passively helping the robot to move easily. However, to go further with this development, we have to test the robot using the walking device with different conditions such as activating its wheel motors. Conducting this experiment is expected to be highly risky and costly. Therefore, we had developed a dynamic simulator in order to test the performance of the robot using the walking support device before conducting it in real simulation.