This paper studies the kinematic modeling and control of two cooperative manipulators. The system is composed of the two arms of the humanoid Nao robot of Aldebaran. The serial structure of each arm has five degrees of freedom, in the closed chain formulation when transporting a common object, it has 4-DOF. The kinematic and dynamics representing the closed chain system is studied. A new control scheme demonstrates how the cooperative task space can be combined with a minimum representation of the task to control the 4 DOF of object. Furthermore by modeling the object grasp as a passive joint, we show that all 6-DOF of the object can be controlled.