Kevin Zakka
8d1b05bbd2
PiperOrigin-RevId: 595383191 Change-Id: Ia11b962c68ed33cc0fd6c5279f571f4b21d81570
35 lines
1.1 KiB
Markdown
35 lines
1.1 KiB
Markdown
# Humanoid
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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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* Degrees of Freedom: 27
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* Actuators: 21
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<p float="left">
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<img src="humanoid.png" width="400">
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</p>
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## Changelog
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* 02-01-2024: Add more keyframes.
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* 27-11-2023: Move humanoid geoms to group 1.
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* 05-04-2023: Fix typo in texture size.
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* 20-09-2022: Use default class for left_upper_arm geom.
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* 17-09-2022: Increase offscreen render buffer resolution of the humanoid to 2560x1440.
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* 12-09-2022:
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* Increased maximum hip flexion.
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* Symmetrised shoulder and ankle joints.
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* Added hamstring tendons which couple the hip and knee at large flexion values.
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* Moved duplicated values into defaults.
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* Added two keyframes.
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* Improved lighting.
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* Changed naming convention.
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## References
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[1] [Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization](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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