In the recent years, the field of robotics been developed at a very fast pace due to the technology development. Robots been used to perform the tasks that human can and cannot do and this has mad the human life much easier. The most popular robot nowadays is the humanoid robot. Humanoid robot is a robot that been designed to have a similar feature to a human body part such as hand, leg, finger and head. Hence, a humanoid robot is said to be able to perform a task similar way to the way human perform the task. However, the behaviours that is needed by the humanoid robot to perform the task need to be studied. These behaviours later on need to be designed and programmed onto the humanoid robot. Besides that, these behaviour also need to be tested and analysed before being tested on a real humanoid robot. Next, all these behaviour will need to be synchronized before the humanoid robot can perform the required task autonomously. © 2017 IEEE.