A multi-objective approach for the trajectory planning of a 7-DOF serial-parallel hybrid humanoid arm

•Inspired by the human arm, a 7-DOF redundant hybrid humanoid arm is proposed.•Dynamic full solutions are obtained by equilibrium and deformation equations.•Based on the normalized Jacobian condition number, an optimal path is obtained by using GA.•The trajectory, interpolated by quintic B-splines, is optimized with NSGA-II.•The manipulator can work with lower energy and higher stability through the proposed method.