A humanoid robot with a body joined to an omnidirectional mobile ground base, equipped with: - a body position sensor, a base position sensor and an angular velocity sensor to provide measures, - actuators comprising joints motors and at least 3 wheels located in the omnidirectional mobile base, with at least one omnidirectional wheel, - extractors for converting sensored measures, - a supervisor to calculate position, velocity and acceleration commands from the extracted data, - means for converting commands into instructions for the actuators, characterized in that the supervisor comprises: - a no-tilt state controller using a robot model wherein the tilt angle of the robot is null, a tilt state controller using a robot model that takes into account the tilt motion and a landing state controller to control the robot when it is in a landing phase, each controller comprising means for calculating from the extracted data, pre-ordered position and velocity references, and a tilt angle and angular velocity references set to 0, position, velocity and acceleration commands based on a double point-mass robot model and on a linear model predictive control law with a discretized time according to a sampling time period T and a number N of predicted samples, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints, - an estimator of a time (t i) of an impact of the humanoid robot with the ground, and an angular velocity ( Ψ̇ i) of the humanoid robot at said time of the impact of the humanoid robot with the ground and - means for choosing one of said no-tilt state controller, tilt state controller and landing state controller according to an estimated angular velocity ( Ψ̇ i) of the humanoid robot at said time of the impact of the humanoid robot with the ground and extracted angular velocity. - a body position sensor, a base position sensor and an angular velocity sensor to provide measures, - actuators comprising joints motors and at least 3 wheels located in the omnidirectional mobile base, with at least one omnidirectional wheel, - extractors for converting sensored measures, - a supervisor to calculate position, velocity and acceleration commands from the extracted data, - means for converting commands into instructions for the actuators, - a no-tilt state controller using a robot model wherein the tilt angle of the robot is null, a tilt state controller using a robot model that takes into account the tilt motion and a landing state controller to control the robot when it is in a landing phase, each controller comprising means for calculating from the extracted data, pre-ordered position and velocity references, and a tilt angle and angular velocity references set to 0, position, velocity and acceleration commands based on a double point-mass robot model and on a linear model predictive control law with a discretized time according to a sampling time period T and a number N of predicted samples, expressed as a quadratic optimization formulation with a weighted sum of objectives, and a set of predefined linear constraints, - an estimator of a time (t i) of an impact of the humanoid robot with the ground, and an angular velocity ( Ψ̇ i) of the humanoid robot at said time of the impact of the humanoid robot with the ground and - means for choosing one of said no-tilt state controller, tilt state controller and landing state controller according to an estimated angular velocity ( Ψ̇ i) of the humanoid robot at said time of the impact of the humanoid robot with the ground and extracted angular velocity.