To solve the problems that humanoid robot design is mainly based on empirical design or motion simulation verification and the initial design method under the requirement of various motion behaviors such as walking, running and jumping with reference to human itself does not exist yet, in this paper, motion capture and plantar force measurements are performed on a variety of human motion behaviors, and joint torque and joint power during human motion are selected as indicators to characterize the ultimate drive capability that a humanoid robot should achieve. The PhaseSpace three-dimensional motion capture system and self-developed integrated force measuring system with range of at least 5 times the body weight were used to conduct the measurement experiment of human motion trajectory and plantar force on 6 adult males under different behaviors. Based on the 149 sets of experimental data obtained, the characteristics of human walking, running and jumping behaviors were obtained and analyzed. The inverse dynamics of each joint of human lower limb was calculated by Newton-Euler method, and the multivariate nonlinear fitting was carried out to obtain the fitting equations of maximum drive torque and power. The design reference guidelines for humanoid robots are summarized to provide a reference for the design of humanoid robots with multiple movements such as walking, running and jumping.