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)