Two　sub-problems　could　be　studied　in　this　paper:　where　the　object　should　be　delivered　to　by　a　robot　(determination　of　the　final　target　position)　and　how　the　robot　should　handover　the　object　to　the　position　(generation　of　humanlike　motion).　First,　experiments　of　different　subjects　are　conducted　to　explore　common　characteristics　in　the　optimal　handover　position.　The　result　shows:　at　the　optimal　handover　position,　all　subjects＇　joint　angles　are　similar.　Therefore,　the　optimal　handover　position　can　be　determined　by　forward　kinematics　based　on　the　measured　average　joint　angles.　Then,　to　plan　the　humanlike　handover　motion,　a　method　proposed　for　a　simple　obstacle-present　environment.　And　for　the　improvement　of　the　methods＇　effectiveness,　an　experimental　comparison　has　been　designed.　NAO＇s　right　arm　is　controlled　to　deliver　a　cube　to　the　receiver　in　humanlike　and　non-humanlike　ways,　which　are　scored　by　subjects.　The　results　show　that　using　the　method　proposed　in　this　paper　to　plan　the　handover　motion　could　make　the　receiver　feel　more　comfortable　and　friendlier.　©　2018　Acta　Press.　All　rights　reserved.