  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.
