Whole-body humanoid robot, which regards human beings as the reference prototype, is the most representative research object and the ultimate goal of robotics, robot technology and artificial intelligence. Comprehensive review, summary and analysis of current theories and key technologies in whole-body humanoid robot, humanoid head, multi-finger hand, humanoid biped walking machine and so on are given, including review of the relevant works on humanoid robots by the author. By summarizing the current technical level of humanoid robots' development, the main technical problems and the trend of the future development are respectively discussed in the aspects of driving elements, walking stability, integrated designation and operation ability of the mechanical systems, environment adaptability and so on. References of decision making are provided for researchers and managers engaged in the relevant works of humanoid robots and their components.