Abstract: Liquid handling is one of the most common actions in daily life,and human arm can easily complete the action. However,it is not easy for the humanoid robotic arm to flexibly finish this task like human. This paper is based on the process of humanoid robotic arm transporting water glass,and the task is also descripted. When multiple constraint conditions should be taken into account for one task,the task-priority and gradient projection method are proposed to deal with the problem,and the two methods are compared. Then,the problem of generating human-like movements for robotic arms is studied,and the index of human arm posture is proposed and used for the humanoid robotic arm's motion planning. Finally,the virtual simulation is built by the Inventor and compared with the human arm's motion experiment. The feasibility of this method and the effectiveness of autonomous humanoid moving are validated by the results.