Robinson, who is set to line up at full-back in Paris in his last competitive game of rugby, insists experience will be crucial and wants England to maintain the momentum which has seen them through the knockout matches against Australia and France.
"There is a lot of excitement, it is a massive game, no doubt about it," Robinson said.
"Last time we played them they beat us convincingly. I know I'm finishing (after the game) but having been on the rugby treadmill for the last 16 years I won't know what it's like to not be on it until next week.
"So there is going to be a certain mix of feelings but the main thing is to stay focused. I am just pleased with the way we have turned things around. Hopefully with one last push we will be successful."
Robinson expects the match at the Stade de France to be an intriguing one.
"We have got the experience but they have got a good settled squad as well," he added.
"It is the team that wants it the most and the team that makes the least mistakes. It is going to be a physical battle but you have got to play smart rugby as well. It has got all the ingredients to be a classic."
Lock Martin Corry admitted the team had done a lot of soul-searching since losing to the Springboks 36-0 in the pool stages.
"We've spoken about this since the pool stages, we realised what we were doing wasn't effective and we sat down and said we had to improve game on game, set ourselves goals and so far we have achieved them."
Corry hailed the efforts of the returning Jonny Wilkinson, who missed the South Africa match through injury.
"Wilko has been magnificent for us, not just his play, it is his calming influence. No matter how much pressure we come under he stays the same."
Robinson admitted he had doubts that the team would be able turn it round after the South Africa defeat, adding: "Credit to the guys.
"What a way to finish in a World Cup final. Sometimes I do have to pinch myself."