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The small-sized humanoid biped robot is a kind of mechatronics device, which needs systematic exploration to complete its structure design, prototype making and motion planning. This paper, based on robot basic knowledge and professional technology, has carried on the detailed analysis to the robot. Degrees of freedom on the robot was distributed according to bionics target, driving units were selected according to development goal, and the robot structure was designed, assembled and tested using Solidworks. Dancing function was designed and programmed adopting hierarchical architecture, which is divided into the driver layer, application layer and execution layer. In such way the stability of the center of gravity of the robot is guaranteed and each part of the robot can cooperate with each other smoothly to complete a programmed dance. The work of this paper shows that the design scheme of the small-sized humanoid biped robot has certain rationality and feasibility, which is very helpful for the teenagers to master the robot technology.