  The recent surge of interest in agile humanoid robots achieving dynamic tasks
like jumping and flipping necessitates the concurrent design of a robot
platform that combines exceptional hardware performance with effective control
algorithms. This paper introduces the NING Humanoid, an agile and robust
platform aimed at achieving human-like athletic capabilities. The NING humanoid
features high-torque actuators, a resilient mechanical co-design based on the
Centroidal dynamics, and a whole-body model predictive control (WB-MPC)
framework. It stands at 1.1 meters tall and weighs 20 kg with 18 degrees of
freedom (DOFs). It demonstrates impressive abilities such as walking, push
recovery, and stair climbing at a high control bandwidth. Our presentation will
encompass a hardware co-design, the control framework, as well as simulation
and real-time experiments.
