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.