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In this paper, we present an experimental approach that allows a humanoid robot to effectively plan and execute whole body motions, like climbing obstacles and straight stairs up or down, besides jumping over obstacles using only on-board sensing. Reliable and accurate motion sequence for humanoid employed in complex indoor environments is a necessity for high-level robotics tasks. Using the robot's own kinematics will construct complex dynamic motions. A series of actions to prevent the object from being performed on the basis of the identified object from the database of the robot, obtained using the robot's own monocular camera. As shown in real world experiments beside simulation using NAO H25 humanoid, the robot can effectively perform whole body movements in cluttered, multilevel environments containing items of various shapes and dimensions.

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