Humanoid robots are designed and built to bear similitude to humans. Ultimately, they are to resemble the sizes and physical abilities of humans in order to function in human-oriented environment and work autonomously but to pose no physical threat to humans. Humanoid robots need to exhibit artificial skin and facial expressions to create extremely lively human appearances. A humanoid robot that resembles human in its appearance and in its movement is built using powerful actuators paired with gear-trains and joint mechanisms, motor drivers that are all encased in a package no larger than that of the human physique. In this paper, I propose the construction of the humanoid-applicable anthropo-morphic 7-DoF arm completed with 8-DoF hand. A novel mechanical design of this humanoid arm makes it compact enough not only to be compatible with currently available narrating-model humanoids, but also powerful and flexible enough to be functional; the number of degrees of freedom endowed in this robotic arm is sufficient for executing a wide range of tasks including dexterous hand motions. The developed robotic arm is an interactive humanoid robot, with the safety feature actualized in both the software and hardware aspects. Software-wise, the humanoid arm adapts an algorithm to sense and interpret the incoming external force and escapes toward a safe direction. Hardware-wise, it is designed and built to be light and compliant to minimize shocks in case of a collision. The thesis covers the following:
— the development of the anthropomorphic arm and hand hardware for safe human interactions
— the development of an algorithm for detecting an external force input using inverse dynamics
— the development of safe escape algorithms without using the conventional multi-axis Force-Torque sen-sors, torque sensors or contact sensors.
Keywords: humanoid arm, humanoid hand, human robot interaction, interactive robots, safe robot arm, robot motion generation, humanoid robot.

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