_appendici.tex

2007年机器人足球世界杯3D仿真组亚军于07年底的源程序。该队还于2008年获得伊朗公开赛的亚军。

\chapter{List of joints}
\begin{tabular}{ll}
\&head1 & Torso to head, X-Axis (not used)\\
\&lleg1 & Torso to left hip, Z-Axis (twist left/right)\\
\&lleg2 & Left hip to Left thigh, X-Axis (backward/forward)\\
\&lleg3 & Left hip to Left thigh, Y-Axis (spread/close)\\
\&lleg4 & Left thigh to Left shank, X-Axis (stretch/bend)\\
\&lleg5 & Left shank to Left foot, X-Axis (toes down/toes up)\\
\&lleg6 & Left shank to Left foot, Y-Axis (left/right)\\
          
\&rleg1 & Torso to right hip, Z-Axis  (twist left/right)\\
\&rleg2 & Right hip to Right thigh, X-Axis (backward/forward)\\
\&rleg3 & Right hip to Right thigh, Y-Axis (spread/close)\\
\&rleg4 & Right thigh to Right shank, X-Axis (bend/stretch)\\
\&rleg5 & Right shank to Right foot, X-Axis (toes down/toes up)\\
\&rleg6 & Right shank to Right foot, Y-Axis (left/right)\\
          
\&larm1 & Torso to Left shoulder, X-Axis (forward/backward)\\
\&larm2 & Torso to Left shoulder, Y-Axis (out/in)\\
\&larm3 & Left shoulder to Left upper arm, Z-Axis (twist left/right)\\
\&larm4 & Left upper arm to Left lower arm, X-Axis\\
          
\&rarm1 & Torso to Right shoulder, X-Axis (forward/backward)\\
\&rarm2 & Torso to Right shoulder, Y-Axis (out/in)\\
\&rarm3 & Right shoulder to Right upper arm, Z-Axis (twist left/right)\\
\&rarm4 & Right upper arm to Right lower arm, X-Axis\\

\end{tabular}


%\chapter{Behavior overview BATS 2007}
%plaatje van dobehave