Robot technology is constantly developing and the studies in this field are also increasing in our country. Universities, machine-manufacturing and defense industry have been either doing or planning robot projects. This study presents designing of a humanoid robot arm desired to be cooperative so that it can work as dual arm or with human operator. Mechanical design, kinematic and dynamic analysis, kinesthetic learning, impedance control, software and hardware studies were carried out within the scope of the study. The stages from the initial design of the humanoid robot arm to the control, the problems encountered, the experiences gained and the suggestions for advanced designs are shared in a very comprehensive way in this article. It has been explained in an easy-to-understand manner in order to be useful for national robot projects which are being developed especially for commercial purposes. Mechanical design, dynamic analyses, simulation and other files will be shared as open source with interested researchers.