This paper deals with alternative humanoid robot dynamics modelling, using the screw theory and Lie groups called the special Euclidean group (SE(3)). The dynamic models are deduced analitically. The inverse dynamics model is obtained by the Lagrangian formulation under screw theory, when the Jacobian manipulator depends on the respective twist and joint angles; on the other hand, the POE formula drives a very natural and explicit description of the Jacobian manipulator without the drawbacks of local representation. The forward dynamics were solved by propagation method from an end-effector to the center of gravity (COG) always on the SE(3). Many tests for reference dynamic walking patterns have been carried out, which are represented in simulation and experimental results. The results will be discussed in order to validate the proposed algorithms. ©2010 IEEE.