This paper presents the development of a robotic driver for the automation of dynamometer based vehicle testing. The aim is to successfully follow industry standard test cycles used for emissions testing and produce repeatable results. Success will be measured by not exceeding the limits set for human drivers for a successful test. The design of this robotic driver is unique; it uses a single linear motion to actuate the brake and throttle pedals controlled by two cascaded PID controllers (vehicle speed and pedal actuator position). A full SIMULINK model has been created and used for simultaion and rapid control prototyping using dSPACE. The system has been developed and tested from simulation through to actual dynamometer testing. Test results show that by time-shifting the drive cycle 2 seconds forward, the robotic driver successfully adhered to the ADR 37/01 standard, and produced repeatable results. Further development is needed to improve the performance and overcome current system limitations such as motor saturation and accelerator pedal stick-slip.