The jumping procedure of the human in the standing long jump was captured with a high-speed video camera. The geometrical configurations and motion postures of the human during jumping were analyzed from the high-speed photographs. By biological observation, the human jump was divided into stance phase, flight phase and land phase. The dynamic model of the humanoid jumping robot was established by the technology of virtual prototype. The joint angles of the robot during jumping were analyzed. The results would provide some theoretical and practical references for the biomimetic design to improve the reasonable motion of the humanoid jumping robot. This work may provide the basic theory in developing humanoid jumping robot in structural design. Besides, it provides an important reference to study the other bionic robots.