Abstract In this paper we address whole-body manipulation of bulky objects by a humanoid robot. We adopt a “pivoting ” manipulation method that allows the humanoid to displace an object without lifting, but by the support of the ground contact. First, the smalltime controllability of pivoting is demonstrated. On its basis, an algorithm for collision-free pivoting motion planning is established taking into account the naturalness of motion as nonholonomic constraints. Finally, we present a whole-body motion generation method by a humanoid robot, which is verified by experiments. Keywords Manipulation · Humanoid · Motion planning · Whole-body motion Fig. 1 Humans often manipulate bulky objects by supporting them on its corner without lifting. 1