In order to replace humans so as to ensure safety in highly hazardous environments, such as COVID-19 testing sites, a dual-arm humanoid robot has been developed by our NTHU team. This humanoid robot with 7-axis robotic arm, vision system, IMUtouch sensors intelligence is able to imitate human actions intelligently. There are several technologies that were developed for this humanoid robot: robotic arm joints which correspond to human arm joints, a novel multiple-object tracking technology which can distinguish individual occluded objects,a real-time eye-hand calibration technology.