Jamie Roberts enjoying his rugby playing for Wales during this year's RBS Six Nations.© Aurelien Meunier/Getty Images

Jamie Roberts believes Wales have what it takes to emulate their 2011 success and make an impression at the upcoming Rugby World Cup.

Roberts was part of the side that reached the semifinals four years ago - the first time they had managed that since 1987 - and is confident the experience the squad has gained since then will aid their attempts to better that outcome this time around.

"We go into the World Cup as a very experienced team," said Roberts, who played in Wales' 9-8 semifinal defeat to France in 2011.

"There is a lot of knowledge of the game and a lot of guys who have played at the top level for quite a while now and that's going to stand us in good stead in the big games."

And there will be big games aplenty as Warren Gatland's side have been placed in Pool A with two-time champions Australia along with the host nation England. However, the 28-year-old is in firm belief their painful pre-tournament preparations will pay huge dividends come the tournament's start on the September 18.

"We've come a long way," Roberts added. "Certainly the few months' preparations going into the World Cup have been very difficult but we've made sure we're in peak condition.

"In 2011 we surprised a lot of people and the pressure is on us now to repeat that."

Wales will enjoy the home comforts of the Millennium Stadium for their opening game against Uruguay on September 20 as they begin their quest to go further than last time.

After their opening fixture against the South Americans, Roberts and co then depart to Twickenham six days later to face fierce rivals England in seek of revenge for their Six Nations defeat in February - a tie that the Welsh side already have an eye on.

"Wales against England is always a big game. The history of rugby between England and Wales is magnificent.

"For us Welsh guys, to beat England at Twickenham is the ultimate goal and to do it in a World Cup would be pretty special."