  Reducing the complexity of higher order problems can enable solving them in
analytical ways. In this paper, we propose an analytic whole body motion
generator for humanoid robots. Our approach targets inexpensive platforms that
possess position controlled joints and have limited feedback capabilities. By
analysing the mass distribution in a humanoid-like body, we find relations
between limb movement and their respective CoM positions. A full pose of a
humanoid robot is then described with five point-masses, with one attached to
the trunk and the remaining four assigned to each limb. The weighted sum of
these masses in combination with a contact point form an inverted pendulum. We
then generate statically stable poses by specifying a desired upright pendulum
orientation, and any desired trunk orientation. Limb and trunk placement
strategies are utilised to meet the reference CoM position. A set of these
poses is interpolated to achieve stable whole body motions. The approach is
evaluated by performing several motions with an igus Humanoid Open Platform
robot. We demonstrate the extendability of the approach by applying basic
feedback mechanisms for disturbance rejection and tracking error minimisation.
