Over the past decade the development of AI stimulated many application domains including robotics which combines multiple subjects and techniques. Humanoid robot becomes one of the research focuses because of its difficulty such as the limitation of cognition on environment and itself, the large number DOFs and the under-actuation. In fact there is still a long distance from its theoretical research to practical application. With regard of this, a state of the art autonomous soccer humanoid robot CU-legendary was designed and developed in this paper with the consideration of its mechanical optimal design, electrical system design, sensor configuration and software architecture design. The proposed robot team has taken first place on 2018 RoboCup China Open Competition, the goal of which is humanoid robots being able to win against the official human World Soccer Champion team by year of 2050.