In　this　paper,　a　humanoid　motion　planning　method　for　robot　trajectory　is　proposed　in　this　paper.　The　pickup　and　delivery　motion　in　human-robot　interaction　is　firstly　studied,　and　the　relationship　between　the　peak　velocity　and　the　motion　distance　in　the　reaching　point　motion　of　the　human　arm　is　extracted.　Then,　based　on　the　minimum-jerk　model,　a　new　method　to　estimate　reaching　duration　is　established.　The　algorithm　can　more　accurately　estimate　the　human　arm＇s　motion　duration.　Finally,　the　motion　law　of　the　human　arm　is　applied　to　the　humanoid　trajectory　planning　of　robots.　The　results　show　that　the　humanoid　trajectory　planning　method　can　effectively　improve　the　quality　of　human-robot　interaction.　©　2022　IEEE.