  Demonstrating acrobatic behavior of a humanoid robot such as flips and
spinning jumps requires systematic approaches across hardware design, motion
planning, and control. In this paper, we present a new humanoid robot design,
an actuator-aware kino-dynamic motion planner, and a landing controller as part
of a practical system design for highly dynamic motion control of the humanoid
robot. To achieve the impulsive motions, we develop two new proprioceptive
actuators and experimentally evaluate their performance using our
custom-designed dynamometer. The actuator's torque, velocity, and power limits
are reflected in our kino-dynamic motion planner by approximating the
configuration-dependent reaction force limits and in our dynamics simulator by
including actuator dynamics along with the robot's full-body dynamics. For the
landing control, we effectively integrate model-predictive control and
whole-body impulse control by connecting them in a dynamically consistent way
to accomplish both the long-time horizon optimal control and high-bandwidth
full-body dynamics-based feedback. Actuators' torque output over the entire
motion are validated based on the velocity-torque model including battery
voltage droop and back-EMF voltage. With the carefully designed hardware and
control framework, we successfully demonstrate dynamic behaviors such as back
flips, front flips, and spinning jumps in our realistic dynamics simulation.
