This paper studies the kinematic modeling and analysis of a system with two cooperative manipulators, working together on a common task. The task is defined as the transportation of an object in space. The cooperative system is the dual armed humanoid Nao robot, where the serial architecture of each arm has five degrees of freedom. The mobility of the closed loop system is analyzed and the nature of the possible motion explored. The serial singular configurations of the system are considered. Furthermore the parallel singularities of the closed loop system associated with each actuation scheme are analyzed.