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Pushing is one of many object manipulation strategies that requires interaction with the environment. Many force control approaches have been proposed for such manipulation. In a force controller implementation for a humanoid robot, however, there is no fixed base. If the required reaction force is greater than the humanoid robot can support, the robot will lose its balance. This paper presents a method to expand these force limits by changing a humanoid robot's posture. Based on Double Inverted Pendulum (DIP) model, the force limitation that the humanoid robot can support is calculated. With a feet-apart strategy and whole-body posture, a method is proposed to maximize the force limitation under the condition that the height of the target object is constant. Finally, comparison of simulation and experimental data validates the approach. [ABSTRACT FROM PUBLISHER]