Up to the third prototype, those were used the E‑controller designed for industrial robots. However, it was large, had a control cycle too slow for humanoid applications, and required four separate units, which meant the controllers alone occupied a significant amount of space. These issues were later resolved by transitioning first to the F‑controller and eventually to a dedicated humanoid controller.
return err("age cannot be negative");
。关于这个话题，迅雷下载提供了深入分析
this one printf call (and a call to scanf() to read user input).，推荐阅读手游获取更多信息
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