A humanoid robot with a body joined to an omnidirectional mobile ground base , and equipped with : - a body position sensor and a base position sensor to provide measures, - actuators comprising joints motors and at least 3 wheels located in the omnidirectional mobile base, with at least 1 omnidirectional wheel, - extractors for retrieving position measure of the body and position measure of the base from the body position sensor and the base position sensor respectively, and converting the measures into observed position measures, - a controller to calculate position, velocity and acceleration commands from the observed data using a robot model and pre-ordered position and velocity references, - means for converting the commands into instructions for the actuators, wherein the robot model is a double point-mass model wherein a first point-mass b represents the mobile ground base Center of Mass, and a second point-mass c represents the body Center of Mass, characterized in that the model is used to provide a linear relation between the center of pressure CoP, being the barycenter p of contact forces between the robot and the ground, and the positions and the accelerations of the mobile ground base and the body, in the form: p xy = m c c xy + m b b xy m c + m b − m c h c ̈ xy + m b l b ̈ xy m c + m b g , where p xy , b xy , c xy and p̈ xy , b̈ xy , c̈ xy designate the positions and respectively the accelerations of p, b and c along horizontal directions x and y, m b , m c are the masses of b and c respectively, g is the gravity norm and where said linear relation is derived neglecting the total angular momentum and assuming: c z , the position of c along a vertical axis z, to be constrained at a constant value h; b z , the position of b along the vertical axis z, to be constant and equal to l ; and the ground to be planar and horizontal so that p z , the position of p along the vertical axis z, is zero, the robot being further characterized in that the commands are based on a linear model predictive control law with a discretized time according to a sampling time period and a number of predicted samples, and expressed as a quadratic optimization formulation with: - a weighted sum of: - a base position objective, - a base velocity objective, - an objective related to the distance between the CoP and the base center, CoP, with predefined weights and - a set of predefined linear constraints which are: - a maximum velocity and acceleration of the mobile base, - kinematics limits of the body, - a CoP limit. - a body position sensor and a base position sensor to provide measures, - actuators comprising joints motors and at least 3 wheels located in the omnidirectional mobile base, with at least 1 omnidirectional wheel, - extractors for retrieving position measure of the body and position measure of the base from the body position sensor and the base position sensor respectively, and converting the measures into observed position measures, - a controller to calculate position, velocity and acceleration commands from the observed data using a robot model and pre-ordered position and velocity references, - means for converting the commands into instructions for the actuators, - a weighted sum of: - a base position objective, - a base velocity objective, - an objective related to the distance between the CoP and the base center, CoP, with predefined weights and - a base position objective, - a base velocity objective, - an objective related to the distance between the CoP and the base center, CoP, with predefined weights and - a set of predefined linear constraints which are: - a maximum velocity and acceleration of the mobile base, - kinematics limits of the body, - a CoP limit. - a maximum velocity and acceleration of the mobile base, - kinematics limits of the body, - a CoP limit. <EOS>