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Abstract—A comparison between two control schemes of a humanoid robot arm is considered, facilitating the development of humanoids that have human-like movements and safe to operate in the vicinity of humans. This paper describes modeling and simulation of a 4 degree of freedom (DOF) INMOOV humanoid robotic arm using MATLAB/Simmechanics toolbox. The proportional derivative (PD) control and sliding mode control (SMC) based on the operational space formulation of task/posture control is considered. The comparison between the two controller approaches in respect to accuracy, natural movement and time response is also presented, showing the effectiveness of the SMC over the PD controller.