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For realizing humanoid robots coexist with humans, it is important to evaluate on shape and motions of a real humanoid robot. This paper compares impressions given by the humanoid robot HRP-2 and the mobile manipulator based on psychological methods. We also evaluated the injluence of pick and place motion of the humanoid robot to human sense of security. As a result of analysing the questionnaire, it is found that turning the body coordinating with the arm gives good impression on humans. It will be an effect of human-like motion of humanoid robots.

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