'humanoid' originates from the English element 'human' + the suffix '-oid' (from Greek '-oeidēs' via Latin '-oidēs'), where '-oid' meant 'resembling' or 'having the form of'.

'humanoid' was coined in modern English (19th century) by combining 'human' (from Latin 'humanus') with the Greek-derived suffix '-oid'; the formation followed patterns like 'android' and 'anthropoid' and entered common use in scientific and literary contexts.

Initially coined to mean 'resembling a human' (particularly in form), the core meaning has remained stable, though usage has broadened to include both biological and mechanical beings that look or act human.