We propose a spheroidal joint actuator using gyroscopic principle. This actuator has two features, which are the wide-range mobility of the multi DOF and releasing the overloaded external torque softly. The humanoid robots today, use an axis turn motor and various sensors for the parts of each joint. In the way of present situations, it is difficult to realize the motion ability like a human shoulder. Spheroidal joint actuators are used for a part of shoulder. In this paper, we describe a kinematics model and performance characteristics of a two-DOF actuator made as experiment constructed by a ball-and-socket joint and gyroscope, and prove result of experiment and consideration of a one-DOF actuator of simple model. By the trial production of spheroidal joint actuators, and various characteristic examinations, verify that it could operate. The flywheel characteristic was in agreement with the application kinematics model. At the torque characteristic examination, the maximum value of output torque is 2 kgf-cm.