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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.
，详情可参考新收录的资料
Photograph: Simon Cohen，推荐阅读新收录的资料获取更多信息
--spins; // ① 自旋等待。新收录的资料是该领域的重要参考