This thesis is a first step towards the elaboration of a cellular simulator for the biologists. We propose a dynamic 3D approach for the modeling of biological systems by combining mechanisms of diverse origin (cell elasticity, cytoskeleton dynamics, chemical reactions) at different time (from the second to the minute) and length scales (from micrometers to tens of millimeters). Thus, an explicit relationship is established between the chemical reactions hosted by the cell and the dynamics of its movement while taking into account the extracellular signaling. We are also interested in the interaction laws between biological objects and we pay particular attention to describe several types of contacts (cell-cell, cell-substrate), their dynamic evolution (sliding, rolling) and the consequences on cellular or tissular architecture.