Whole-body manipulation refers to the manipulation of objects that necessitate the use of all or most of the degrees of freedom of a robot beyond the use of its arms. This term usually applies to robots with kinematic structures that are more complicated than a fixed-base manipulator, for example, humanoid robots. Robots capable of whole-body manipulation are generally not grounded to the floor and very redundant. A humanoid robot moving a cabinet is a prime example where movement of the entire body is necessary to manipulate the object.