Whole body manipulation

This paper discusses the manipulation of an object by using the whole body of a human type robotic mechanism. To manipulate a big object placed on the floor, a human type robot pushes it. For this problem, we extend the internal force in grasping by a multi-fingered hand to the whole body manipulation by a humanoid robot and introduce the "whole body internal force". To exert the pushing force effectively onto the object, we obtain some conditions regarding the whole body internal force. We also obtain the region of the foot position enabling a robot to push an object without causing the slip.