The objective is to provide humanoid robots with motion autonomy by developing methods and software for motion planning and control. Robot motion planning and control is a core research topic in Robotics. Humanoid robotics renews the topic with two challenges: facing the complexity of the mechanical system (more than 30 degrees of freedom) and facing the physical interaction between the robot and the real world. In such a framework dynamics plays a central role while most of existing motion planning approaches only deal with geometry (obstacle avoidance) and kinematics. This axis benefits from the support of the joint French-Japanese JRL. Software developments are based on KineoWorks from Kineo CAM and OpenHRP from General Robotix.