1. Starboard Thigh Term Hip Encoder Main Brain/ CAN Router
Top Bar
6-Wire CAN 1-2
6-Wire CAN 1-2
PWR
6-Wire CAN 3-4
Heel Strike OL
Limit Switch OL
Term
Hip
Encoder
9-Wire RS232
Main Brain/
CAN Router
Motor Controller
Feet Outer
O. Foot
Motor
RS232
Term
2 Wire Limit Switch OR RC
Receiver
UI Board
6-Wire Foot OR Encoder
IMU
6-Wire CAN 3-4
3- Wire Heel Strike OR
Leg

2. Middle Thigh Top PWR Term I. Foot Motor Motor Controller Feet Inner
Top Data
BATT +
GND
SYS +
(switch)
Top PWR
CAN 3-4 in
Term
I. Foot
Motor
6-wire Motor Encoder I. Feet
2-wire Motor Power
Motor Controller
Feet Inner
6-wire Encoder I. Feet
2-wire Limit Switch IR
2-wire Limit Switch IL
3-wire Heel Strike IR
3-wire Heel Strike IL
Leg

3. PortThigh Hip Motor Motor Controller Hip Motor Controller Steering
Top Data
Hip
Motor
PWR -+
6-wire CAN 1-2
6-wire Hip Encoder
Limit Switch OL
6-wire CAN 3-4 in
6-wire CAN 3-4 out
Heel Strike OL
6-wire Motor Encoder Hip
Motor Controller
Hip
Motor Controller
Steering
2-wire Motor Power
Term
2-wire Motor Power
3-wire Pot. Feedback
6-wire Foot
OL Encoder
Steer
Motor
Steer
Pot.
Leg

4. Top Bar Mid PWR Brain Thigh Middle Thigh Hip Thigh CHG+ GHG-
PWR I+
PWR I-
PWR O+
PWR O-
Mid PWR
GND
PWR
Switch
Limit Switch OL
Heel Strike OL
6-wire Hip Encoder
6-Wire CAN 1-2
6-Wire CAN 1-2
6-Wire CAN 3-4
6-Wire CAN 3-4 in
6-Wire CAN 3-4 out
Brain Thigh
Middle Thigh
Hip Thigh