  We present a method that finds locomanipulation plans that perform
simultaneous locomotion and manipulation of objects for a desired end-effector
trajectory. Key to our approach is to consider a generic locomotion constraint
manifold that defines the locomotion scheme of the robot and then using this
constraint manifold to search for admissible manipulation trajectories. The
problem is formulated as a weighted-A* graph search whose planner output is a
sequence of contact transitions and a path progression trajectory to construct
the whole-body kinodynamic locomanipulation plan. We also provide a method for
computing, visualizing and learning the locomanipulability region, which is
used to efficiently evaluate the edge transition feasibility during the graph
search. Experiments are performed on the NASA Valkyrie robot platform that
utilizes a dynamic locomotion approach, called the
divergent-component-of-motion (DCM), on two example locomanipulation scenarios.
