Our 20-month-old constantly demands that we pick him up, usually only when we are at home. Once picked up he will normally direct us into the kitchen where he will point at foods etc. that he wants to touch/taste/smell or other interesting objects. He isn't normally hungry, just curious, which is obviously great however it's got to the point where my wife and I can hardly sit down for longer than a minute and our backs are breaking.
We feel that we shouldn't give in to his demands to be picked up all the time and on the few times we've said no he has a tantrum. How should we best deal with this behaviour?