The invention relates to a humanoid robot, which is a movable mechanical device consisting of a head, a body part, arms and legs, and is matched with a circuit control system and a sensing system to realize humanoid movement. Each moving joint of the humanoid robot is realized by closely matching a motor output torque with each movable member. The humanoid robot can be used for finishing various types of operation instead of people and expanding the capabilities of human beings on multiple aspects, and can be widely applied to a plurality of fields such as service, medical treatment, education, entertainment and the like.