Humanoid is part of the Social Assistive Robotics (SAR) which has been designed with a comprehensive artificial intelligence system that is widely used for elderly care, rehabilitation for people with physical disabilities as well as the intervention of individuals with cognitive impairment. Nowadays, with the advance of this technology, the world is also utilizing these humanoids for social activities and services. Consequently, some controversial questions amongst religious scholars, academicians, clinicians, services and societies arise on the urgency to use humanoid robots for therapy of the intervention in the brain-impairments, elderly care, rendering general services or for social companions when the world seems to adapt that humanoid is one of those modes, which shows potential in giving better outcomes. Due to the problem, there is an urgency to develop Fiqh Robotics to help the nation at large on the permissible of using humanoids used for social activities, services and rehabilitation. A qualitative method is used in analysing and synthesizing the relevant literature and document review to develop this Fiqh Robotic from the framework of Maqasid Shariah, together with the combination of accelerating rapid growth of the world Artificial Intelligence (AI, particularly discussing the measurement Humanoid Robot Interaction (HRI), Maqasid Shariah Principles, Islamic Legal Maxims and the permission of using this approach in Islam.