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Last decades of humanoid research has shown that humanoids developed for highdynamic performance require a stiff structure and optimal distribution ofmass--inertial properties. Humanoid robots built with a purely tree typearchitecture tend to be bulky and usually suffer from velocity and force/torquelimitations. This paper presents a novel series-parallel hybrid humanoid calledRH5 which is 2 m tall and weighs only 62.5 kg capable of performing heavy-dutydynamic tasks with 5 kg payloads in each hand. The analysis and control of thishumanoid is performed with whole-body trajectory optimization technique basedon differential dynamic programming (DDP). Additionally, we present an improvedcontact stability soft-constrained DDP algorithm which is able to generatephysically consistent walking trajectories for the humanoid that can be trackedvia a simple PD position control in a physics simulator. Finally, we showcasepreliminary experimental results on the RH5 humanoid robot.

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot