Abstract: To solve technical problems in miniaturization and integration of humanoid robot,and apply humanoid robot in unstructured human life environment,a new kid-size humanoid robot THBIP-Ⅱ is developed,and its system configuration is introduced,including mechanical structure,control system and sensing system.THBIP-Ⅱ has a height of 700 mm,a weight of 18 kg and 24 degrees of freedom.To fulfill its miniaturization,modularized joints and transmission structures with synchronous belt and harmonic reducer are adopted,and a typical distributed control is adopted in its control system.Meanwhile,a 3D simulation platform is established,and a flat locomotion of 15 cm/step,0.075 m/s and a stable penalty kick are achieved successfully based on 3D parametric gait planning of torque optimization.