The present invention relates to a humanoid robot that can move to follow a trajectory by a lower limb. In accordance with the present invention, a robot can sense an obstacle intrusion as a function of its speed within a safe area defined around its body. Preferably, when the robot performs a predetermined trajectory, for example, a part of choreography, the robot avoiding the collision with the obstacle returns to its original trajectory after avoiding the obstacle. The return to the trajectory and speed of the robot are configured to be resynchronized with the original trajectory. As an advantageous feature, the joint speed of the upper body member of the robot is adapted in case the distance to the obstacle is reduced below a preset minimum distance. In addition, the joint is stopped in case a collision of the upper body member with the obstacle is predicted.
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