Abstract: The main characteristics of humanoid robot arms is their motion capability, such as shaking hands, assisting balance while walking, etc.-This paper presents kinematics for the double arms of a self-developed humanoid robot TH-1, featured roll-bend mechanical structure, to provide the mathematic control formulas.Coordination transform, triangle transform, etc are proposed to successfully derive the inverse kinematics analytic equations for the humanoid robot TH-1 arms.-A simulation software is also established to verify the feasibility on both the direct and inverse kinematics.