A humanoid robot to naturally imitate various motions and gestures of
humans and a shoulder joint assembly thereof is disclosed. The humanoid
robot includes a first shoulder joint device disposed between a body and
an arm of the robot, to move the arm. The entire first shoulder joint
device is movable relative to the body. For this, a second shoulder joint
device may be installed between the body and the first shoulder joint
device to move the first shoulder joint device.