Method for controlling human arm motion reproduction of humanoid robot

A method for controlling reproduction of human arm motion of a humanoid robot is provided to allow the humanoid robot to reproduce minute human arm motion regardless of size and arm freedom of the humanoid robot by considering displacement variation amount and displacement speed variation amount of an arm joint of the humanoid robot and obtaining optimized motion. A method for controlling reproduction of human arm motion of a humanoid robot comprises the steps of: obtaining a time track capturing the human arm motion(S10); calculating an object function for minimizing difference between the human arm motion and humanoid robot arm motion with respect to each time value of the captured time track and searching for optimal joint displacement amount(S30); and controlling the humanoid robot so as to perform changed motion by using the optimal joint displacement amount per each hour(S60).