In this article, we explore human motion skills in the dual-arm manipulation tasks that include contact with equipment with the final aim to generate human-like humanoid motion. Human motion is analyzed using the optimization approaches starting with the assumption that human motion is optimal. A combination of commonly used optimization criteria in the joint space with the weight coefficients is considered: minimization of kinetic energy, minimization of joint velocities, minimization of the distance between the current and ergonomic positions, and maximization of manipulability. The contribution of each criterion for seven different dual-arm manipulation tasks to provide the most accurate imitation of the human motion is given via suggested inverse optimization approach calculating values of weight coefficients. The effects on actors' body characteristics and the characteristics of the environment (involved equipment) on the choice of criterion functions are additionally analyzed. The optimal combination of weight coefficients calculated by the inverse optimization approach is used in our inverse kinematics algorithm to transfer human motion skills to the motion of the humanoid robots. The results show that the optimal combination of weight coefficients is able to generate human-like humanoid motions rather than individual one of the considered criterion functions. The recorded human motion and the motion of the humanoid robot ROMEO, obtained with the strategy used by human and defined by our inverse optimal control approach, for the tasks " opening/closing a drawer " are assessed visually and quantitatively.