The whole-body control framework based on the operational space control  will be implemented for our robot. Recent implementation results were presented in Humanoids 2014 .
 J. Park, O. Khatib. Contact Consistent Control Framework for Humanoid Robots. International Conference on Robotics and Automation, presented at Orlando, Florida, 15-19 May 2006.
 M. Schwartz, S. Hwang, Y. Lee, J. Won, S. Kim, and J. Park. Aesthetic Design and Development of Humanoid Legged Robot. International Conference on Humanoid Robots, presented at Madrid, Spain, 18-20 Nov 2014.
We are using a software RoboticsLab from SimLab, Inc.  for controlling the robot in real-time. The software also provides a simulation environment where we can simulate the same robot with the same control code.