Learning from demonstration is one of the promising approaches for fast robot programming. Most learning systems learn both movements and stiffness profiles from human demonstrations. However, they rarely consider the unknown environment interaction. In this paper, a robot human-like learning framework is proposed, where it can learn human skills through demonstration and complete the interaction task with an unknown environment. Firstly, the desired trajectory was generated by dynamic movement primitive based on human demonstration. Then, an adaptive optimal admittance control scheme (...) was employed to interact with environments with the reference adaptation method. Finally, the experimental study was conducted, and the effectiveness of the framework proposed in this paper was verified via a group of curved surface wiping experiments on a balloon with unknown model parameters. (shrink)