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It is expected that humanoid robots provide various services to help human daily life such as household works, home security, medical care, welfare and so on(Dominey et al., 2007; Okada et al., 2003; 2005). In order to provide various services, humanoids have multi degree-of-freedom(DOF), sophisticated and complicated structure. These humanoid robots will work under human living environments which are not definable beforehand. So humanoids have to provide their given services under not only the designed environments but also unknown environments. Under unknown environments, robots cannot perform as planned, and they may fall or collide with obstacles. These impacts will wreak several unexpected structure changes such as gear cracks, joint locking, frame distortions and so on. Because of the designed motions are optimized to the robot structure, if the robot structure has changed, the services from robots cannot be provided. Because general users have no expertise knowledge of robots, thus, quick repairs under human living environments cannot be expected. Even in that case, it is expected that the robots should provide services to help human daily life as possible. In the case the humanoid robots cannot get rapid repair service, they have to provide the desired services with their broken body. In addition, using tools to provide some services can be considered as one of the structure changes. Therefore, it is necessary for future humanoids to obtain new motions which can provide the required services with changed structure. We propose an autonomous motion adaptation method which can be applied to sophisticated and complicated robots represented by humanoids. As a first step, we deal with the simple services based on trajectory control; services can be provided by following the correct path designed by experts. When robot structure has changed, achieving the designed trajectories on changed structure is needed. As the conventional methods, there are two typical approaches. One is the method based on model identification (El-Salam et al., 2005; Groom et al., 1999). Robots locate the occurred changes, identify the changed structure, recalculate inverse kinematics, and then obtain the proper motions. If the changed structure is identified, inverse kinematics leads the proper motions for new properties of changed structure. However, it is so difficult to identify the complicated structure changes in sophisticated robots. In additions, the available solving methods of inverse kinematics for multi DOF robots is non-existent according to the reference (The Robotics Society of Japan, 2005). So model identification method cannot be applied for humanoids. Another approach is Autonomous Motion Adaptation Against Structure Changes Without Model Identification 2