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We have developed a humanoid robot HRP-IS that is capable of simultaneous whole body motion control In phase one of the Humanoid Robotics Project (HRP) of the Ministry of Economy, Trade and lndustry of Japan, Honda R&D Co. Ltd has produced humanoid robot HRP-1 as a humanoid research platform to ease the development of good applications for humanoid robots in phase two of HRP However; HRP-1 controls its legs and arms separately, and is not suitable for some applications. We modified the control hardware of HRP-1 and implemented our own control software. The modified robot was designated HRP-JS. The motion controller of HRP-IS is built in accordance with the plug-in architecture. We have developed some plug-ins including a real-time walking pattern generator (KWALK plug-in) and a reflex controller (STABILIZER plug-in) to maintain the dynamic balance of HRP-IS. In this paper we present the system architecture of the control system of HRP-IS and several experimental results. [ABSTRACT FROM AUTHOR]