Abstract: Humanoid robots configuration and squatting gait were studied. And the humanoid robots were handled as the 7-DOF (degrees of freedom) model of the six-link. The dynamics equation was established based on Lagrange formulation during humanoid robot squatting, and the joint torque-time curves were obtained using the ADAMS simulation. Several curves with different filtering frequency were presented and compared. The results showed the stress mechanism of each major joint during humanoid robot squatting in the environment of engineering disasters rescue, which may supply the underpinning for rescue behavior design of humanoid robots.