In this paper, an approach to whole body motion planning for humanoid robots using only onboard sensing is presented. Reliable and accurate motion sequence of motions for humanoid robots operating in complex indoor environments is a prerequisite for robots to fulfill high-level task. The design of complex dynamic motions is achievable only through the use of robot kinematics, which is an application of geometry to the study of arbitrary robotic chains. A sequence of actions for avoiding obstacles including, step over actions, as well as step onto/down actions is presented. As demonstrated in simulation as well as real world experiments with NAO humanoid the validity of the approach is examined and evaluated.