We developed a small humanoid for studies on full-body behaviors, Syokabe. The 26-dof robot has a pitching axis in each foot to rotate the tiptoe and a yawing axis at the waist and each of the two thighs. These five rotation axes make it possible for the robot to stably walk with long strides. Furthermore, the robot is suitable for frequent small turns and thus playing sports, dancing, human robot interaction and so on. We will present the mechanism and some full-body motions of Syokabe.