As robots become increasingly integrated into daily life, understanding how humans naturally interact with them in shared environments is essential. This work examines the spatial and behavioural dynamics between humans and a humanoid mobile robot, focusing on avoidance behaviours in shared spaces. A study was conducted in an indoor laboratory setting, where human avoidance behaviours around a humanoid mobile robot were observed, video recorded, and supplemented with a post-task questionnaire. Data annotation and video analysis examined proxemics and behaviours exhibited by participants. The results suggest that participants kept a greater distance during verbal interactions with the robot, whereas during navigation, the distances were comparable to those of human-human interactions. However, participants demonstrated a greater tendency to assert their path when navigating with the robot. Furthermore, the qualitative analysis highlighted participants’ preference for a more responsive, socially aware robot with adaptive navigation.