Whole-body manipulation refers to the manipulation of objects that necessitate theuse of all or most of the degrees of freedom of a robot beyond the use of itsarms. This term usually applies to robots with kinematic structures that are morecomplicated than a fixed-base manipulator, for example humanoid robots. Robotscapable of whole-body manipulation are generally not grounded to the floor and veryredundant. A humanoid robot moving a cabinet is a prime example where movementof the entire body is necessary to manipulate the object.