With the advancement of technology, the area of social-assisted robotics (SAR) is increasingly contributing to changes in diagnostic and therapeutic capabilities in children with autism spectrum disorder (ASD). Many researches point to the benefit of using robotic platforms (i.e. humanoid robots) in working with children with ASD because robots have features that are simpler and less intimidating than humans, so they can be triggers for the emergence of some social skills in some children with ASD. The aim of this study was to investigate the level of performance of imitation tasks in relation to demonstrators in children with ASD and in children with typical development (TD) and to establish differences in the phenomena of social behavior during their emergence in those two groups and within a group of children with ASD. The obtained results suggest that children with TD do not imitate more than children with ASD and that they do not exhibit more social behaviors than children with ASD, with exception of behaviors that are part of ASD characteristics. Also, it has not been established that children with ASD imitate the humanoid robot more, nor that more social behaviors emerge during their interaction with him, with the exception of Gaze direction. It has been observed that children with ASD show greater interest in the robot than the person, which is not the case with children with TD.