Abstract: A motion planning method for anthropomorphic robot arm which emphasizes the human likeness of robot movement is proposed in this paper to solve the autonomous grasp task of service robot in house environment. The method involves configuration planning and movement planning. The Rapid Upper Limb Assessment (RULA) criterion which is widely used in applied ergonomics is adopted in configuration planning to assess the human likeness of robot movement, then the key configuration of the robot movement is planned to generate the maximal velocity transmission ratio at its end-effector. The Fitts law and human-like movement model is used in movement planning to generate trajectory of the robot. Illustrative example of this method applied to a dual anthropomorphic arm robot Motoman SDA10D and Mitsubishi PA10 is presented in this paper, and reasonable planning results confirm the feasibility and effectiveness of the method.