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
18 lines
554 B
Markdown
18 lines
554 B
Markdown
Humanoid
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========
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Degrees of Freedom: 27
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Actuators: 21
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This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
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behaviours. While several variants of it exist in the wild, this version is based on the model
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in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
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[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization]
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(https://doi.org/10.1109/IROS.2012.6386025).
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[2] [DeepMind Control Suite](https://arxiv.org/abs/1801.00690).
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