The design of the control software for complex system s is a difficult task. It requires the modeling, the simulation, the integration and the adaptation of a mu ltitude of interconnected entities and behaviors. In this context, the present paper describes a modeli ng framework. It proposes to objectify the behaviors which leads to a two-level modeling process based on th ree concepts: resources - software images of the controlled system - behaviors applied to these res ources, and meta-behaviors, - i.e. means for behavior integration and adaptation. To complete the pr oposed modeling framework, a coherent model-based approach supported by model-checking tools, that ensu res the development of va lidated applications, is considered. Finally, to illustrate the elements men tioned, this paper uses the control software of a walking robot as a running example.