This research is undertaken to improve technologies that enable the design and implementation of a humanoid robot able to climb vertical natural terrain. Humanoid climbing robot (HC Robot) is designed to climb up a climbing wall totally autonomously, and it is expected to be useful to rescue in disaster area. It seems more difficult to analyze the dynamic character of humanoid climbing robot because of the complexity of mathematical description. Therefore, this paper starts with climbing technique analysis. After that, a rudimentary analysis of mechanical structure and kinematics of HC robot is shown. Secondly, a 3D humanoid climbing robot is built and simulated in Matlab-Simscape environment, and next, this model is used to perform statics and dynamics motions as some basic climbing motions.