Path planning and search methodologies are readily applicable for lower dimensional data, e.g 3D space and traditional computing data structures. However, available search algorithms become problematic for high dimensional space, e.g robotic joint movements. We introduced multi-heuristic search methodology into the domain of robot motion planning, which was successfully tested on a 16 joint humanoid robot. The aim of this project is to introduce a generic framework for humanoid robotics to do a multitude of tasks. This publication was featured in IEEE proceedings: http://ieeexplore.ieee.org/document/7759694/.