子器件列表
以下为机器人上所有子器件的列表：
“编号”为子器件编号，只是在您想了解首选项（配置）文件时才会用到。
在ALMemory里，这些子器件的名称都带有前缀“Device/SubDeviceList/”。
| 注释: |
这仅是子器件列表。有关关键码和值的含义， 请参见下几章。 |
|---|
1. 连接到器件“touchBoard”的子器件（仅限 Academics版）
每只手上有3个触觉传感器，如果有手指靠近时，每个传感器会变为0或1。 充电时，可能会有不同的反应。另外还有12个蓝色发光二极管（LED）。
| 名称 | 类型 | 编号 |
|---|---|---|
| Head/Touch/Front/Sensor | Touch | 1 |
| Head/Touch/Rear/Sensor | Touch | 2 |
| Head/Touch/Middle/Sensor | Touch | 3 |
| Head/Led/Rear/Left/0/Actuator | Led | 4 |
| Head/Led/Rear/Left/1/Actuator | Led | 5 |
| Head/Led/Rear/Left/2/Actuator | Led | 6 |
| Head/Led/Rear/Right/2/Actuator | Led | 7 |
| Head/Led/Rear/Right/1/Actuator | Led | 8 |
| Head/Led/Rear/Right/0/Actuator | Led | 9 |
| Head/Led/Middle/Right/0/Actuator | Led | 10 |
| Head/Led/Front/Right/0/Actuator | Led | 11 |
| Head/Led/Front/Right/1/Actuator | Led | 12 |
| Head/Led/Front/Left/1/Actuator | Led | 13 |
| Head/Led/Front/Left/0/Actuator | Led | 14 |
| Head/Led/Middle/Left/0/Actuator | Led | 15 |
2. 连接至器件“EarLeds”的子器件
机器人的每只耳朵上有10个蓝色发光二极管，它们的名称里指明了是左侧或右侧的LED。0°为向上， <180°是向机器人的前方（角度值为近似值）
| 名称 | 类型 | 编号 |
|---|---|---|
| Ears/Led/Right/0Deg/Actuator | Led | 15 |
| Ears/Led/Right/36Deg/Actuator | Led | 14 |
| Ears/Led/Right/72Deg/Actuator | Led | 13 |
| Ears/Led/Right/108Deg/Actuator | Led | 12 |
| Ears/Led/Right/144Deg/Actuator | Led | 11 |
| Ears/Led/Right/180Deg/Actuator | Led | 20 |
| Ears/Led/Right/216Deg/Actuator | Led | 19 |
| Ears/Led/Right/252Deg/Actuator | Led | 18 |
| Ears/Led/Right/288Deg/Actuator | Led | 17 |
| Ears/Led/Right/324Deg/Actuator | Led | 16 |
3. 连接至器件“EarLeds”的子器件
机器人每只耳朵上有10个蓝色发光二极管，它们的名称里指明了是左侧或右侧的LED。 0°为向上，<180°是向机器人的前方（角度值为近似值）
| 名称 | 类型 | 编号 |
|---|---|---|
| Ears/Led/Left/0Deg/Actuator | Led | 5 |
| Ears/Led/Left/36Deg/Actuator | Led | 6 |
| Ears/Led/Left/72Deg/Actuator | Led | 7 |
| Ears/Led/Left/108Deg/Actuator | Led | 8 |
| Ears/Led/Left/144Deg/Actuator | Led | 9 |
| Ears/Led/Left/180Deg/Actuator | Led | 10 |
| Ears/Led/Left/216Deg/Actuator | Led | 1 |
| Ears/Led/Left/252Deg/Actuator | Led | 2 |
| Ears/Led/Left/288Deg/Actuator | Led | 3 |
| Ears/Led/Left/324Deg/Actuator | Led | 4 |
4. 连接至器件“FaceBoard”的子器件
每只眼睛上有8个红色、8个绿色和8个蓝色发光二极管。
它们的名称中指明是左侧或右侧（“left”、“right”）的LED。0°是向上， <180°是向机器人的右边。
| 名称 | 类型 | 编号 |
|---|---|---|
| Face/Led/Red/Right/0Deg/Actuator | Led | 15 |
| Face/Led/Red/Right/45Deg/Actuator | Led | 16 |
| Face/Led/Red/Right/90Deg/Actuator | Led | 9 |
| Face/Led/Red/Right/135Deg/Actuator | Led | 10 |
| Face/Led/Red/Right/180Deg/Actuator | Led | 11 |
| Face/Led/Red/Right/225Deg/Actuator | Led | 12 |
| Face/Led/Red/Right/270Deg/Actuator | Led | 13 |
| Face/Led/Red/Right/315Deg/Actuator | Led | 14 |
| 名称 | 类型 | 编号 |
|---|---|---|
| Face/Led/Green/Right/0Deg/Actuator | Led | 31 |
| Face/Led/Green/Right/45Deg/Actuator | Led | 32 |
| Face/Led/Green/Right/90Deg/Actuator | Led | 25 |
| Face/Led/Green/Right/135Deg/Actuator | Led | 26 |
| Face/Led/Green/Right/180Deg/Actuator | Led | 27 |
| Face/Led/Green/Right/225Deg/Actuator | Led | 28 |
| Face/Led/Green/Right/270Deg/Actuator | Led | 29 |
| Face/Led/Green/Right/315Deg/Actuator | Led | 30 |
| 名称 | 类型 | 编号 |
|---|---|---|
| Face/Led/Blue/Right/0Deg/Actuator | Led | 47 |
| Face/Led/Blue/Right/45Deg/Actuator | Led | 48 |
| Face/Led/Blue/Right/90Deg/Actuator | Led | 41 |
| Face/Led/Blue/Right/135Deg/Actuator | Led | 42 |
| Face/Led/Blue/Right/180Deg/Actuator | Led | 43 |
| Face/Led/Blue/Right/225Deg/Actuator | Led | 44 |
| Face/Led/Blue/Right/270Deg/Actuator | Led | 45 |
| Face/Led/Blue/Right/315Deg/Actuator | Led | 46 |
“FaceBoard”还控制两个红外线发射/接收器，每只眼睛上有一个。
每个传感器和致动器都特定于三个红外线代码中的一个，而且在该代码中都占1个字节或更少：
Beacon Code（标码，发送1个字节），Robot Code（机器人代码，发送4字节，通常为机器人的IP地址）和 RC5 Code（RC5代码，标准11位飞利浦红外线代码）。
| 名称 | 类型 | 编号 |
|---|---|---|
| IR/RobotCode/Byte4/Actuator | Led | 4 |
| IR/RobotCode/Byte3/Actuator | Led | 3 |
| IR/RobotCode/Byte2/Actuator | Led | 2 |
| IR/RobotCode/Byte1/Actuator | Led | 1 |
| IR/BeaconCode/Actuator | Led | 5 |
| IR/RC5Code/Byte2/Actuator | Led | 7 |
| IR/RC5Code/Byte1/Actuator | Led | 6 |
| 名称 | 类型 | 编号 |
|---|---|---|
| IR/RobotCode/Left/Byte4/Sensor | Led | 4 |
| IR/RobotCode/Left/Byte3/Sensor | Led | 3 |
| IR/RobotCode/Left/Byte2/Sensor | Led | 2 |
| IR/RobotCode/Left/Byte1/Sensor | Led | 1 |
| IR/BeaconCode/Left/Sensor | Led | 5 |
| IR/RC5Code/Left/Byte2/Sensor | Led | 7 |
| IR/RC5Code/Left/Byte1/Sensor | Led | 6 |
5. 连接至器件“FaceBoard”的子器件
每只眼睛上有8个红色、8个绿色和8个蓝色发光二极管。
它们的名称里指明是左侧或右侧（“left”、“right”）的LED。0°为向上， <180°是向机器人的右边。
| 名称 | 类型 | 编号 |
|---|---|---|
| Face/Led/Red/Left/0Deg/Actuator | Led | 3 |
| Face/Led/Red/Left/45Deg/Actuator | Led | 4 |
| Face/Led/Red/Left/90Deg/Actuator | Led | 5 |
| Face/Led/Red/Left/135Deg/Actuator | Led | 6 |
| Face/Led/Red/Left/180Deg/Actuator | Led | 7 |
| Face/Led/Red/Left/225Deg/Actuator | Led | 8 |
| Face/Led/Red/Left/270Deg/Actuator | Led | 1 |
| Face/Led/Red/Left/315Deg/Actuator | Led | 2 |
| 名称 | 类型 | 编号 |
|---|---|---|
| Face/Led/Green/Left/0Deg/Actuator | Led | 19 |
| Face/Led/Green/Left/45Deg/Actuator | Led | 20 |
| Face/Led/Green/Left/90Deg/Actuator | Led | 21 |
| Face/Led/Green/Left/135Deg/Actuator | Led | 22 |
| Face/Led/Green/Left/180Deg/Actuator | Led | 23 |
| Face/Led/Green/Left/225Deg/Actuator | Led | 24 |
| Face/Led/Green/Left/270Deg/Actuator | Led | 17 |
| Face/Led/Green/Left/315Deg/Actuator | Led | 18 |
| 名称 | 类型 | 编号 |
|---|---|---|
| Face/Led/Blue/Left/0Deg/Actuator | Led | 35 |
| Face/Led/Blue/Left/45Deg/Actuator | Led | 36 |
| Face/Led/Blue/Left/90Deg/Actuator | Led | 37 |
| Face/Led/Blue/Left/135Deg/Actuator | Led | 38 |
| Face/Led/Blue/Left/180Deg/Actuator | Led | 39 |
| Face/Led/Blue/Left/225Deg/Actuator | Led | 40 |
| Face/Led/Blue/Left/270Deg/Actuator | Led | 33 |
| Face/Led/Blue/Left/315Deg/Actuator | Led | 34 |
6. 连接至器件“HeadBoard”的子器件
包括2个关节，其所有的致动器和传感器如下：
HeadPitch（头部前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| HeadPitch/Position/Actuator | Joint | 1 |
| HeadPitch/Hardness/Actuator | JointHardness | 1 |
| HeadPitch/Position/Sensor | jointPosition | 1 |
| HeadPitch/ElectricCurrent/Sensor | Current | 1 |
| HeadPitch/Temperature/Sensor | Temperature | 1 |
HeadYaw（头部扭转）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| HeadYaw/Position/Actuator | Joint | 2 |
| HeadYaw/Hardness/Actuator | JointHardness | 2 |
| HeadYaw/Position/Sensor | jointPosition | 2 |
| HeadYaw/ElectricCurrent/Sensor | Current | 2 |
| HeadYaw/Temperature/Sensor | Temperature | 2 |
7. 连接至器件“ChestBoard”及“Battery”的子器件
“ChestBoard”有若干子器件，包括3个LED，电池（Battery）和按钮（Button）。
包括2个关节，其所有的致动器和传感器如下。
LED：
| 名称 | 类型 | 编号 |
|---|---|---|
| ChestBoard/Led/Red/Actuator | Led | 1 |
| ChestBoard/Led/Green/Actuator | Led | 2 |
| ChestBoard/Led/Blue/Actuator | Led | 3 |
Power/status （电源/状态）：
| 名称 | 类型 | 编号 |
|---|---|---|
| ChestBoard/Power/Actuator | Led | 1 |
| ChestBoard/ChestState/Actuator | Led | 1 |
| 注释: |
尚未应用。 |
|---|
按钮：
| 名称 | 类型 | 编号 |
|---|---|---|
| ChestBoard/Button/Sensor | Switch | 1 |
“Battery”器件有3个子器件：
| 名称 | 类型 | 编号 |
|---|---|---|
| Battery/Charge/Sensor | Battery | 1 |
| Battery/ElectricCurrent/Sensor | Current | 1 |
| Battery/Temperature/Sensor | Temperature | 1 |
| 注释: |
Temperature（温度）子器件尚未应用，而新的三洋（Sanyo）电池已应用。 |
|---|
8. 连接至器件“USBoard”的子器件
包括一个发送超声波的致动器和一个接收结果的传感器。
| 名称 | 类型 | 编号 |
|---|---|---|
| US/Actuator | UsSend | 1 |
| US/Sensor | USReceived | 1 |
| US/Left/Sensor | USReceived | 1 |
| US/Right/Sensor | USReceived | 1 |
连接至器件“InertialSensor”的子器件：
惯性传感器电路板有一个三轴加速计（Accelerometer）和一个两轴陀螺仪（Gyrometer）。 它还返回一个使用内部算法计算的角度（Angle）。
| 名称 | 类型 | 编号 |
|---|---|---|
| InertialSensor/AccX/Sensor | Accelerometer | 1 |
| InertialSensor/AccY/Sensor | Accelerometer | 2 |
| InertialSensor/AccZ/Sensor | Accelerometer | 3 |
| InertialSensor/GyrX/Sensor | Gyrometer | 1 |
| InertialSensor/GyrY/Sensor | Gyrometer | 2 |
| InertialSensor/GyrRef/Sensor | Gyrometer | 3 |
| InertialSensor/AngleX/Sensor | Angle | 1 |
| InertialSensor/AngleY/Sensor | Angle | 2 |
| 注释: |
后两个子器件现在可以应用。 |
|---|
9. 连接至器件“LeftShoulderBoard”的子器件
包括2个关节，其所有的致动器/传感器如下：
LShoulderPitch（左肩前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LShoulderPitch/Position/Actuator | Joint | 1 |
| LShoulderPitch/Hardness/Actuator | JointHardness | 1 |
| LShoulderPitch/Position/Sensor | jointPosition | 1 |
| LShoulderPitch/ElectricCurrent/Sensor | Current | 1 |
| LShoulderPitch/Temperature/Sensor | Temperature | 1 |
LShoulderRoll（左肩左右动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LShoulderRoll/Position/Actuator | Joint | 2 |
| LShoulderRoll/Hardness/Actuator | JointHardness | 2 |
| LShoulderRoll/Position/Sensor | jointPosition | 2 |
| LShoulderRoll/ElectricCurrent/Sensor | Current | 2 |
| LShoulderRoll/Temperature/Sensor | Temperature | 2 |
10. 连接至器件“RightShoulderBoard”的子器件
包括2个关节，其所有致动器/传感器如下：
RShoulderPitch（右肩前后动）关节：
| 名称 | 类型 | 编号r |
|---|---|---|
| RShoulderPitch/Position/Actuator | Joint | 1 |
| RShoulderPitch/Hardness/Actuator | JointHardness | 1 |
| RShoulderPitch/Position/Sensor | jointPosition | 1 |
| RShoulderPitch/ElectricCurrent/Sensor | Current | 1 |
| RShoulderPitch/Temperature/Sensor | Temperature | 1 |
RShoulderRoll（右肩左右动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RShoulderRoll/Position/Actuator | Joint | 2 |
| RShoulderRoll/Hardness/Actuator | JointHardness | 2 |
| RShoulderRoll/Position/Sensor | jointPosition | 2 |
| RShoulderRoll/ElectricCurrent/Sensor | Current | 2 |
| RShoulderRoll/Temperature/Sensor | Temperature | 2 |
11. 连接至器件“LeftArmBoard”的子器件
包括2个关节，其所有致动器/传感器如下：
LElbowRoll（左肘左右动）关节：
| 名称 | 类型e | 编号 |
|---|---|---|
| LElbowRoll/Position/Actuator | Joint | 1 |
| LElbowRoll/Hardness/Actuator | JointHardness | 1 |
| LElbowRoll/Position/Sensor | jointPosition | 1 |
| LElbowRoll/ElectricCurrent/Sensor | Current | 1 |
| LElbowRoll/Temperature/Sensor | Temperature | 1 |
LElbowYaw（左肘扭转）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LElbowYaw/Position/Actuator | Joint | 2 |
| LElbowYaw/Hardness/Actuator | JointHardness | 2 |
| LElbowYaw/Position/Sensor | jointPosition | 2 |
| LElbowYaw/ElectricCurrent/Sensor | Current | 2 |
| LElbowYaw/Temperature/Sensor | Temperature | 2 |
12. 连接至器件“RightArmBoard”的子器件
包括2个关节，其所有致动器/传感器如下：
RElbowRoll（右肘左右动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RElbowRoll/Position/Actuator | Joint | 1 |
| RElbowRoll/Hardness/Actuator | JointHardness | 1 |
| RElbowRoll/Position/Sensor | jointPosition | 1 |
| RElbowRoll/ElectricCurrent/Sensor | Current | 1 |
| RElbowRoll/Temperature/Sensor | Temperature | 1 |
RElbowYaw（右肘扭转）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RElbowYaw/Position/Actuator | Joint | 2 |
| RElbowYaw/Hardness/Actuator | JointHardness | 2 |
| RElbowYaw/Position/Sensor | jointPosition | 2 |
| RElbowYaw/ElectricCurrent/Sensor | Current | 2 |
| RElbowYaw/Temperature/Sensor | Temperature | 2 |
13. 连接至器件“LeftHandBoard”的子器件
包括2个关节，其所有致动器/传感器如下：
LWristYaw（左腕扭转）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LWristYaw/Position/Actuator | Joint | 1 |
| LWristYaw/Hardness/Actuator | JointHardness | 1 |
| LWristYaw/Position/Sensor | jointPosition | 1 |
| LWristYaw/ElectricCurrent/Sensor | Current | 1 |
| LWristYaw/Temperature/Sensor | Temperature | 1 |
LHand（左手）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LHand/Position/Actuator | Joint | 2 |
| LHand/Hardness/Actuator | JointHardness | 2 |
| LHand/Position/Sensor | jointPosition | 2 |
| LHand/ElectricCurrent/Sensor | Current | 2 |
| LHand/Temperature/Sensor | Temperature | 2 |
| 名称 | 类型 | 编号 |
|---|---|---|
| LHand/Touch/Back/Sensor | TouchHand | 3 |
| LHand/Touch/Left/Sensor/ | TouchHand | 4 |
| LHand/Touch/Right/Sensor/ | TouchHand | 5 |
14. 连接至RightHandBoard的子器件
包括2个关节，其所有致动器/传感器如下：
RWristYaw（右腕扭转）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RWristYaw/Position/Actuator | Joint | 1 |
| RWristYaw/Hardness/Actuator | JointHardness | 1 |
| RWristYaw/Position/Sensor | jointPosition | 1 |
| RWristYaw/ElectricCurrent/Sensor | Current | 1 |
| RWristYaw/Temperature/Sensor | Temperature | 1 |
RHand（右手）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RHand/Position/Actuator | Joint | 2 |
| RHand/Hardness/Actuator | JointHardness | 2 |
| RHand/Position/Sensor | jointPosition | 2 |
| RHand/ElectricCurrent/Sensor | Current | 2 |
| RHand/Temperature/Sensor | Temperature | 2 |
电容式传感器：
| 名称 | 类型 | 编号 |
|---|---|---|
| RHand/Touch/Back/Sensor | TouchHand | 3 |
| RHand/Touch/Left/Sensor/ | TouchHand | 4 |
| RHand/Touch/Right/Sensor/ | TouchHand | 5 |
15. 连接至器件“LeftHipBoard”上的子器件
包括一个关节，其致动器/传感器如下：
LHipYawPitch（左髋扭转及前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LHipYawPitch/Position/Actuator | Joint | 2 |
| LHipYawPitch/Hardness/Actuator | JointHardness | 2 |
| LHipYawPitch/Position/Sensor | jointPosition | 2 |
| LHipYawPitch/ElectricCurrent/Sensor | Current | 2 |
| LHipYawPitch/Temperature/Sensor | Temperature | 2 |
16. 连接至器件“LeftHipBoard”的子器件
包括一个关节，其致动器/传感器如下：
LHipRoll（左髋左右动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LHipRoll/Position/Actuator | Joint | 1 |
| LHipRoll/Hardness/Actuator | JointHardness | 1 |
| LHipRoll/Position/Sensor | jointPosition | 1 |
| LHipRoll/ElectricCurrent/Sensor | Current | 1 |
| LHipRoll/Temperature/Sensor | Temperature | 1 |
17. 连接至器件“RightHipBoard”的子器件
包括一个关节，其致动器/传感器如下：
RHipRoll（右髋左右动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RHipRoll/Position/Actuator | Joint | 1 |
| RHipRoll/Hardness/Actuator | JointHardness | 1 |
| RHipRoll/Position/Sensor | jointPosition | 1 |
| RHipRoll/ElectricCurrent/Sensor | Current | 1 |
| RHipRoll/Temperature/Sensor | Temperature | 1 |
18. 连接至器件“LeftThighBoard”的子器件
包括2个关节，其所有的致动器/传感器如下：
LHipPitch（左髋前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LHipPitch/Position/Actuator | Joint | 1 |
| LHipPitch/Hardness/Actuator | JointHardness | 1 |
| LHipPitch/Position/Sensor | jointPosition | 1 |
| LHipPitch/ElectricCurrent/Sensor | jointPosition | 1 |
| LHipPitch/Temperature/Sensor | Temperature | 1 |
LKneePitch（左膝前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LKneePitch/Position/Actuator | Joint | 2 |
| LKneePitch/Hardness/Actuator | JointHardness | 2 |
| LKneePitch/Position/Sensor | jointPosition | 2 |
| LKneePitch/ElectricCurrent/Sensor | Current | 2 |
| LKneePitch/Temperature/Sensor | Temperature | 2 |
19. 连接至器件“RightThighBoard”的子器件
包括2个关节，其所有致动器/传感器如下：
“RHipPitch”（右髋前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RHipPitch/Position/Actuator | Joint | 1 |
| RHipPitch/Hardness/Actuator | JointHardness | 1 |
| RHipPitch/Position/Sensor | jointPosition | 1 |
| RHipPitch/ElectricCurrent/Sensor | Current | 1 |
| RHipPitch/Temperature/Sensor | Temperature | 1 |
“RKneePitch”（右膝前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RKneePitch/Position/Actuator | Joint | 2 |
| RKneePitch/Hardness/Actuator | JointHardness | 2 |
| RKneePitch/Position/Sensor | jointPosition | 2 |
| RKneePitch/ElectricCurrent/Sensor | Current | 2 |
| RKneePitch/Temperature/Sensor | Temperature | 2 |
20. 连接至器件“LeftShinBoard”的子器件
包括2个关节，其所有致动器/传感器如下：
“LAnklePitch”（左踝前后）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LAnklePitch/Position/Actuator | Joint | 1 |
| LAnklePitch/Hardness/Actuator | JointHardness | 1 |
| LAnklePitch/Position/Sensor | jointPosition | 1 |
| LAnklePitch/ElectricCurrent/Sensor | Current | 1 |
| LAnklePitch/Temperature/Sensor | Temperature | 1 |
“LAnkleRoll”（左踝左右动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| LAnkleRoll/Position/Actuator | Joint | 2 |
| LAnkleRoll/Hardness/Actuator | JointHardness | 2 |
| LAnkleRoll/Position/Sensor | jointPosition | 2 |
| LAnkleRoll/ElectricCurrent/Sensor | Current | 2 |
| LAnkleRoll/Temperature/Sensor | Temperature | 2 |
21. 连接至器件“RightShinBoard”的子器件
包括2个关节，其所有致动器/传感器如下：
“RAnklePitch”（右踝前后动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RAnklePitch/Position/Actuator | Joint | 1 |
| RAnklePitch/Hardness/Actuator | JointHardness | 1 |
| RAnklePitch/Position/Sensor | jointPosition | 1 |
| RAnklePitch/ElectricCurrent/Sensor | Current | 1 |
| RAnklePitch/Temperature/Sensor | Temperature | 1 |
“RAnkleRoll”（右踝左右动）关节：
| 名称 | 类型 | 编号 |
|---|---|---|
| RAnkleRoll/Position/Actuator | Joint | 2 |
| RAnkleRoll/Hardness/Actuator | JointHardness | 2 |
| RAnkleRoll/Position/Sensor | jointPosition | 2 |
| RAnkleRoll/ElectricCurrent/Sensor | jointPosition | 2 |
| RAnkleRoll/Temperature/Sensor | jointPosition | 2 |
22. 连接至器件“LeftFootBoard”的子器件
包括3个发光二级管，2个碰撞器，4个压力传感器（FSR），1个总重量（即所有压力传感器的总合） 和2个压力中心。
LED：
| 名称 | 类型 | 编号 |
|---|---|---|
| LFoot/Led/Red/Actuator | Led | 1 |
| LFoot/Led/Green/Actuator | Led | 2 |
| LFoot/Led/Blue/Actuator | Led | 3 |
碰撞器：
| 名称 | 类型 | 编号 |
|---|---|---|
| LFoot/Bumber/Left/Sensor | Switch | 1 |
| LFoot/Bumber/Right/Sensor | Switch | 2 |
压力传感器：
| 名称 | 类型 | 编号 |
|---|---|---|
| LFoot/FSR/FrontLeft/Sensor | FSR | 1 |
| LFoot/FSR/FrontRight/Sensor | FSR | 2 |
| LFoot/FSR/RearLeft/Sensor | FSR | 3 |
| LFoot/FSR/RearRight/Sensor | FSR | 4 |
所有压力传感器的总重量：
| 名称 | 类型 | 编号 |
|---|---|---|
| LFoot/FSR/TotalWeight/Sensor | FSR | 10 |
压力中心：
| 名称 | 类型 | 编号 |
|---|---|---|
| LFoot/FSR/CenterOfPressure/X/Sensor | CenterOfForcePosition | 1 |
| LFoot/FSR/CenterOfPressure/Y/Sensor | CenterOfForcePosition | 2 |
23. 连接至器件“RightFootBoard”的子器件
包括3个发光二极管，2个碰撞器，4个压力传感器（FSR），1个总重量（即所有压力传感器的总和） 和2个压力中心。
LED：
| 名称 | 类型 | 编号 |
|---|---|---|
| RFoot/Led/Red/Actuator | Led | 1 |
| RFoot/Led/Green/Actuator | Led | 2 |
| RFoot/Led/Blue/Actuator | Led | 3 |
碰撞器：
| 名称 | 类型 | 编号 |
|---|---|---|
| RFoot/Bumber/Left/Sensor | Switch | 1 |
| RFoot/Bumber/Right/Sensor | Switch | 2 |
压力传感器：
| 名称 | 类型 | 编号 |
|---|---|---|
| RFoot/FSR/FrontLeft/Sensor | FSR | 1 |
| RFoot/FSR/FrontRight/Sensor | FSR | 2 |
| RFoot/FSR/RearLeft/Sensor | FSR | 3 |
| RFoot/FSR/RearRight/Sensor | FSR | 4 |
所有压力传感器的总重量：
| 名称 | 类型 | 编号 |
|---|---|---|
| RFoot/FSR/TotalWeight/Sensor | FSR | 10 |
压力中心：
| 名称 | 类型 | 编号 |
|---|---|---|
| RFoot/FSR/CenterOfPressure/X/Sensor | CenterOfForcePosition | 1 |
| RFoot/FSR/CenterOfPressure/Y/Sensor | CenterOfForcePosition | 2 |