To　obtain　anthropomorphic　arm　postures　for　a　given　end-effector　position　and　orientation,　a　new　inverse　kinematics　method　is　proposed　for　seven　degrees　of　freedom　(DOF)　humanoid　manipulators　base　on　the　characteristics　of　human　arm　postures.　The　wrist　position　is　determined　by　the　end-effector　position　and　orientation,　and　then　the　redundancy　resolution　of　human　arm　is　solved　using　the　elbow　twist　angle,　which　is　determined　by　the　minimum　potential　energy　measure.　Furthermore,　the　analytical　formulation　of　the　inverse　kinematics　for　humanoid　manipulators　is　derived.　The　results　of　simulations　and　experiments　prove　the　similarity　with　human　arm　postures　and　the　continuity　of　the　solutions.　Finally,　the　instability　of　this　method　is　analyzed　based　on　the　dexterity　of　humanoid　manipulators,　which　shows　that　the　humanoid　manipulator　is　singular　when　the　elbow　twist　angle　suddenly　changes.　Due　to　the　analytical　formulation,　this　method　is　efficient　for　the　real　time　control　of　humanoid　manipulators.　©　2018　Journal　of　Mechanical　Engineering.