diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l
index afc2475a..663a7d44 100644
--- a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l
+++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknt-utils.l
@@ -6,3 +6,89 @@
 (eval
  `(defmethod hrp2jsknt-robot
     ,@(get-hrp2-with-hand-class-methods)))
+
+(defmethod hrp2jsknt-robot
+  (:move-centroid-on-foot
+   (leg fix-limbs
+        &rest args
+        &key (mid 0.5)
+        (use-toes (make-list (length (remove-if-not #'(lambda (x) (memq x '(:rleg :lleg))) fix-limbs)) :initial-element nil))
+        (target-centroid-pos (send self :calc-target-centroid-pos leg (remove-if-not #'(lambda (x) (memq x '(:rleg :lleg))) fix-limbs) use-toes mid))
+        &allow-other-keys)
+   (send-super*
+    :move-centroid-on-foot leg fix-limbs
+    :use-toes use-toes :target-centroid-pos target-centroid-pos
+    args))
+  (:calc-target-centroid-pos-for-one-leg
+   (fix-leg &optional (use-toe) (offset))
+   (if use-toe
+       (cadr (send (send self :foot-polygon fix-leg '((:toe-p))) :centroid))
+     (send (send self fix-leg :end-coords) :transform-vector offset)))
+  (:calc-target-centroid-pos
+   (centroid-leg fix-legs
+                 &optional (use-toes (make-list (length fix-legs) :initial-element nil))
+                 (mid 0.5)
+                 (offsets
+                  (mapcar
+                   #'(lambda (x)
+                       (cond
+                        ((substringp "HRP2JSKNT" (send self :name))
+                         (float-vector -20 0 0))
+                        (t
+                         (float-vector 0 0 0))))
+                   (range (length fix-legs)))))
+   (if (eq centroid-leg :both)
+       (apply
+        #'midpoint mid
+        (mapcar
+         #'(lambda (tmp-leg tmp-ut tmp-of)
+             (send self :calc-target-centroid-pos-for-one-leg tmp-leg tmp-ut tmp-of))
+         fix-legs use-toes offsets))
+     (send self :calc-target-centroid-pos-for-one-leg centroid-leg (car use-toes) (car offsets))))
+  (:fullbody-inverse-kinematics
+   (target-coords
+    &rest args
+    &key (fix-limbs '(:rleg :lleg))
+    (use-toes (make-list (length fix-limbs) :initial-element nil)) ;; :use-toes '(t nil) -> use toe-joint of :rleg and does not use toe-joint of :lleg
+    (target-centroid-pos (send self :calc-target-centroid-pos (if (= (length fix-limbs) 2) :both (car fix-limbs)) fix-limbs use-toes))
+    (additional-weight-list)
+    &allow-other-keys)
+   (let* ((leg-ul (send self :calc-union-link-list
+                        (mapcar #'(lambda (fl ut)
+                                    (remove-if #'(lambda (x) (unless ut (eq x (send (send self fl :toe-p) :child-link))))
+                                               (send self fl :links)))
+                                fix-limbs use-toes))))
+     (send self :reset-joint-angle-limit-weight-old leg-ul)
+     (send-super* :fullbody-inverse-kinematics
+                  target-coords
+                  :target-centroid-pos target-centroid-pos
+                  :additional-weight-list
+                  (append
+                   additional-weight-list
+                   (remove nil
+                           (mapcar #'(lambda (l u)
+                                       (if (send self l :toe-p)
+                                           (list (send self l :toe-p :child-link) (if u 1.0 0.0))))
+                                   fix-limbs use-toes))
+                   (list
+                    (list (car (send self :links))
+                          #'(lambda ()
+                              ;; set root-link 6dof-joint's weight based on legs' joint limit
+                              (let* ((min-weight
+                                      (reduce #'(lambda (x y) (min x y))
+                                              (coerce (send self :calc-inverse-kinematics-weight-from-link-list
+                                                            leg-ul :union-link-list leg-ul) cons))))
+                                (fill (instantiate float-vector 6) min-weight)))
+                          )
+                    ))
+                  args)))
+  )
+
+(defun range (n)
+  (cond ((<= n 0)
+         (return-from range nil))
+        ((= n 1)
+         (list 0))
+        (t
+         (append (range (- n 1)) (list (- n 1))))))
+
diff --git a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l
index f0464780..1afc709e 100644
--- a/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l
+++ b/hrpsys_ros_bridge_tutorials/euslisp/hrp2jsknts-utils.l
@@ -7,3 +7,87 @@
  `(defmethod hrp2jsknts-robot
     ,@(get-hrp2-with-hand-class-methods)))
 
+(defmethod hrp2jsknt-robot
+  (:move-centroid-on-foot
+   (leg fix-limbs
+        &rest args
+        &key (mid 0.5)
+        (use-toes (make-list (length (remove-if-not #'(lambda (x) (memq x '(:rleg :lleg))) fix-limbs)) :initial-element nil))
+        (target-centroid-pos (send self :calc-target-centroid-pos leg (remove-if-not #'(lambda (x) (memq x '(:rleg :lleg))) fix-limbs) use-toes mid))
+        &allow-other-keys)
+   (send-super*
+    :move-centroid-on-foot leg fix-limbs
+    :use-toes use-toes :target-centroid-pos target-centroid-pos
+    args))
+  (:calc-target-centroid-pos-for-one-leg
+   (fix-leg &optional (use-toe) (offset))
+   (if use-toe
+       (cadr (send (send self :foot-polygon fix-leg '((:toe-p))) :centroid))
+     (send (send self fix-leg :end-coords) :transform-vector offset)))
+  (:calc-target-centroid-pos
+   (centroid-leg fix-legs
+                 &optional (use-toes (make-list (length fix-legs) :initial-element nil))
+                 (mid 0.5)
+                 (offsets
+                  (mapcar
+                   #'(lambda (x)
+                       (cond
+                        ((substringp "HRP2JSKNT" (send self :name))
+                         (float-vector -20 0 0))
+                        (t
+                         (float-vector 0 0 0))))
+                   (range (length fix-legs)))))
+   (if (eq centroid-leg :both)
+       (apply
+        #'midpoint mid
+        (mapcar
+         #'(lambda (tmp-leg tmp-ut tmp-of)
+             (send self :calc-target-centroid-pos-for-one-leg tmp-leg tmp-ut tmp-of))
+         fix-legs use-toes offsets))
+     (send self :calc-target-centroid-pos-for-one-leg centroid-leg (car use-toes) (car offsets))))
+  (:fullbody-inverse-kinematics
+   (target-coords
+    &rest args
+    &key (fix-limbs '(:rleg :lleg))
+    (use-toes (make-list (length fix-limbs) :initial-element nil)) ;; :use-toes '(t nil) -> use toe-joint of :rleg and does not use toe-joint of :lleg
+    (target-centroid-pos (send self :calc-target-centroid-pos (if (= (length fix-limbs) 2) :both (car fix-limbs)) fix-limbs use-toes))
+    (additional-weight-list)
+    &allow-other-keys)
+   (let* ((leg-ul (send self :calc-union-link-list
+                        (mapcar #'(lambda (fl ut)
+                                    (remove-if #'(lambda (x) (unless ut (eq x (send (send self fl :toe-p) :child-link))))
+                                               (send self fl :links)))
+                                fix-limbs use-toes))))
+     (send self :reset-joint-angle-limit-weight-old leg-ul)
+     (send-super* :fullbody-inverse-kinematics
+                  target-coords
+                  :target-centroid-pos target-centroid-pos
+                  :additional-weight-list
+                  (append
+                   additional-weight-list
+                   (remove nil
+                           (mapcar #'(lambda (l u)
+                                       (if (send self l :toe-p)
+                                           (list (send self l :toe-p :child-link) (if u 1.0 0.0))))
+                                   fix-limbs use-toes))
+                   (list
+                    (list (car (send self :links))
+                          #'(lambda ()
+                              ;; set root-link 6dof-joint's weight based on legs' joint limit
+                              (let* ((min-weight
+                                      (reduce #'(lambda (x y) (min x y))
+                                              (coerce (send self :calc-inverse-kinematics-weight-from-link-list
+                                                            leg-ul :union-link-list leg-ul) cons))))
+                                (fill (instantiate float-vector 6) min-weight)))
+                          )
+                    ))
+                  args)))
+  )
+
+(defun range (n)
+  (cond ((<= n 0)
+         (return-from range nil))
+        ((= n 1)
+         (list 0))
+        (t
+         (append (range (- n 1)) (list (- n 1))))))