The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.