Abstract: Taking pushing a handcart as an example,pushing operation by humanoid robot BHR-2 during dynamic walking is studied.The relationship between hand position and waist displacement is analyzed and the compensation for hand manipulation trajectory during the manipulation motion is studied.In addition,there is interaction between the robot and the handcart,so stability control for the manipulation motion based on ZMP(zero moment position)criterion is studied considering the desired pushing force.The validity of the method is demonstrated by simulation and experiment.The arm manipulability and motion stability for pushing operation are achieved.