Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.
With hrpsys, some biped robots, HRP2 and Atlas (simulation only afaik) are already capable of planning using MoveIt!. @Kei Okada can provide more correct info.