In　this　paper,　a　robotic　motion　planning　scheme　is　proposed　to　generate　hand-over　motions　in　a　friendly　and　comfortable　manner.　Two　sub-problems　are　studied:　The　determination　of　the　final　target　position　(where　the　robot　should　hand　over　the　object　to)　and　the　generation　of　human-like　motion　in　the　hand-over　process　(how　the　robot　should　hand　over　the　object　to　the　position).　First,　experiments　of　different　subjects　are　conducted　to　explore　the　common　characteristics　in　the　optimal　hand-over　positions.　The　result　shows　that　their　joint　angles　are　similar　at　the　optimal　hand-over　position.　Therefore,　the　optimal　hand-over　position　can　be　determined　by　forward　kinematics　based　on　the　measured　average　joint　angles.　Then,　two　methods　are　proposed　to　plan　the　human-like　hand-over　motions　in　an　obstacle-free　environment　and　in　an　obstacle-present　environment,　respectively.　A　series　of　experimental　comparisons　is　conducted　to　prove　the　validity　of　the　methods.　A　robotic　arm　is　controlled　to　hand　over　a　cube　to　humans　in　human-like　way　and　nonhuman-like　way.　The　subjects　are　asked　to　grade　the　hand-over　motion　of　the　robotic　arm　on　a　scale　of　1　to　5.　The　results　show　that　the　hand-over　motions　planned　by　the　methods　proposed　in　this　paper　can　make　people　feel　safer　and　more　comfortable.