\chapter*{Acronyms}
	\begin{acronym}[RELAX NG]
		%\acrodef{label}[acronym]{written out form}
		
		\acro{ROS}[ROS]{Robot Operating System}
		
		\acro{COP}[COP]{Center of Pressure}
		
		\acro{USB}[USB]{Universal Serial Bus}
		\acro{DOF}[DOF]{Degree of Freedom }
		
		\acro{PCB}[PCB]{Printed Circuit Board}
		\acro{SOP}[SOP]{Small Outline Package/Plastic}
		
		\acro{PDIP}[PDIP]{Plastic dual Inline Package}
		\acro{PHUA}[PHUA]{Humanoid Project from the University of Aveiro}		
				
		\acro{DETI}[DETI]{Electronics, Telecommunication and informatics Department}
		\acro{DEM}[DEM]{Mechanical Department }	
					
		\acro{ALDURO}[ALDURO]{Anthropomorphically Legged and Wheeled Duisburg Robot}		

		\acro{FANUC}[FANUC]{Factory Automation Numerical Control}
		
		\acro{BSD}[BSD]{Permissive free software license}
		\acro{PDF}[PDF]{Portable Document Format}
		
		\acro{LfD}[LfD]{Learning from Demonstration}
		\acro{SPI}[SPI]{Serial Peripheral Interface}
		
		\acro{SQL}[SQL]{Structured Query Language}		
		\acro{SSH}[SSH]{Secure Shell}
		
		\acro{UI}[UI]{User Interface}
		\acro{UNDESA}[UNDESA]{United Nations Department of Economics and Social Affairs}
		\acro{URL}[URL]{Uniform Resource Locator}
		
		\acro{WSGI}[WSGI]{Web Server Gateway Interface}
		
		\acro{XML}[XML]{Extensible Markup Language}
		\acro{XSLT}[XSLT]{eXtensible Stylesheet Language for Transformation}
		
		\acro{ZCML}[ZCML]{Zope Configuration Markup Language}
		\acro{ZODB}[ZODB]{Zope Object Data Base}
		\acro{ZOPE}[ZOPE]{Z Object Publishing Environment}
		\acro{ZXML}[ZCML]{Zope Configuration Markup Language}
		%\acro{}[]{}
	\end{acronym}