diff --git a/doc/changelog.rst b/doc/changelog.rst index a559c781..62fb2711 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -3,6 +3,19 @@ Changelog ========= +Upcoming version (not yet released) +----------------------------------- + +General +^^^^^^^ + +- Updates to humanoid model: + + - Added two keyframes (stand-on-one-leg and squat). + - Increased maximum hip flexion angle. + - Added hamstring tendons which couple the hip and knee at high hip flexion angles. + - General cosmetic improvements, including improved use of defaults and better naming scheme. + Version 2.2.2 (September 7, 2022) --------------------------------- diff --git a/model/humanoid/README.md b/model/humanoid/README.md new file mode 100644 index 00000000..28ab7e7a --- /dev/null +++ b/model/humanoid/README.md @@ -0,0 +1,17 @@ +Humanoid +======== + +Degrees of Freedom: 27 +Actuators: 21 + +This simplified humanoid model, introduced in [1], is designed for bipedal locomotion +behaviours. While several variants of it exist in the wild, this version is based on the model +in the DeepMind Control Suite [2], which has fairly realistic actuator gains. + +[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization] + (https://doi.org/10.1109/IROS.2012.6386025). + +[2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690). + + +![humanoid](humanoid.png) diff --git a/model/humanoid/humanoid.png b/model/humanoid/humanoid.png new file mode 100644 index 00000000..99df309a Binary files /dev/null and b/model/humanoid/humanoid.png differ diff --git a/model/humanoid/humanoid.xml b/model/humanoid/humanoid.xml index 4b825c09..fb250c10 100644 --- a/model/humanoid/humanoid.xml +++ b/model/humanoid/humanoid.xml @@ -14,22 +14,19 @@ --> -