The invention discloses a humanoid robot based on hollow drivers and micro drivers. The humanoid robot comprises a robot chest assembly, a robot head assembly, a robot waist and crotch assembly, a robot left leg assembly, a robot right leg assembly, a robot left arm assembly and a robot right arm assembly. The robot chest assembly comprises a chest shell and a robot controller. The robot head assembly comprises a head body, the head shaking micro driver and the nodding micro driver. The robot waist and crotch assembly comprises a waist installation shell, a crotch installation shell, the waist rotating hollow driver, the left leg hollow driver, the right leg hollow driver and the stooping hollow driver. Each of the robot left leg assembly and the robot right leg assembly comprises a thigh, a crus, a foot, the crotch joint hollow driver, the knee joint hollow driver and the angle joint hollow driver. Each of the robot left arm assembly and the robot right arm assembly comprises a large arm, a forearm, a hand, the shoulder joint hollow driver, the elbow joint micro driver and the wrist joint micro driver. The humanoid robot has the beneficial effects that the humanoid simulation effect is good, and design is novel.