# Control and Evaluation of a Humanoid Robot with Rolling Contact Knees

arXiv: https://arxiv.org/abs/2210.00961 · HTML: https://mlsanity.com/paper/2210.00961/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Oct 2022.

## Built on by (most cited first, 1 of 1)

- [Deep Imitation Learning for Humanoid Loco-manipulation through Human Teleoperation](https://mlsanity.com/paper/2309.01952/) (2023)

## Abstract (arXiv)

In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion. Its versatile design brings interesting problems as it requires a more elaborate control system to perform its motions. For this reason, we introduce a whole body controller (WBC) with support for rolling contact joints and show how it can be easily integrated into our previously presented open-source Planning and Control (PnC) framework. We then validate our controller experimentally on DRACO 3 by showing preliminary results carrying out two postural tasks. Lastly, we analyze the impact of the proximal actuation design and show where it stands in comparison to other adult-size humanoids.