To resolve the kinematics modeling and dynamics modeling of a humanoid robot with complicated machine, a modeling method based on the conventional mechanism combined with neural network is presented. First the kinematics formulas are deduced by analyzing its geometry structure. Second, the dynamics models are built up with Lagrange-Euler method combined with the define of interactive force among all parts of the humanoid robot. The interactive force is realized by neural network method. Finally, the true robot parameters are applied to the model. The simulation results show the validity of the modeling. So, the method is practical and available.