The humanoid robot performs "pivoting" manipulation to carry a bulky object without lifting. A coarse path of the object towards its goal position is first planned to compute the trajectory of the hands which perform the
manipulation. Then foot positions are determined along the object path, from which the COM trajectory is derived using the dynamic walking-pattern generator. Those tasks are provided to the inverse kinematics to generate the coordinated arm and leg motion for this complex manipulation.
The second video shows the motion planning combining pivoting manipulation and free walking motion in a more complex environment.
