Yuval Tassa
04d44e1e0b
- Increased hip flexion maximum. - Symmetrised shoulder and ankle joints. - Added hamstring tendons which couple the hip and knee at large flexion values. - Moved duplicated values into defaults. - Added two keyframes. - Improved lighting. - Changed naming convention. - Moved description into README.md PiperOrigin-RevId: 473745371 Change-Id: I95bf915c4caf3d5cf06c325cd73284d78a3d836e
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).
