The invention relates to a humanoid robot which can move on its lower limb to execute a trajectory. According to the invention, the robot is capable of detecting intrusion of obstacles in a safety zone defined around its body as a function of its speed. Preferably when the robot executes a predefined trajectory, for instance a part of a choreography, the robot which avoids collision with an obstacle will rejoin its original trajectory after avoidance of the obstacle. Rejoining trajectory and speed of the robot are adapted so that it is resynchronized with the initial trajectory. Advantageously, the speed of the joints of the upper members of the robot is adapted in case the distance with an obstacle decreases below a preset minimum. Also, the joints are stopped in case a collision of the upper members with the obstacle is predicted.
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