1. Right Thigh Main Brain/ CAN Router Term RS232 Term J8 6-wire CAN 1-2 Top Bar Leg 6-wire CAN 3-4 J6 9-wire RS232 6-wire CAN 1-2 6-Wire CAN 3-4 Motor Controller Feet Outer Hip Encoder O. Foot Motor 6-wire OR foot encoder 2-wire OR limit switch 3-wire OR heel strike OL limit switch OL Heel strike Battery power UI Board RC Receiver IMU J7 6-wire CAN 3-4 J7 6-wire CAN 1-2 J9 6-Wire CAN 3-4 J5, J6 RC0 & 1 J4 RC3 (5.5V) J3 IMU RS232

2. Center thigh Leg BATT +GND SYS + (switch) Top power Top bar data connector I. foot motor CAN 3-4 J9 6-wire encoder i. feet J4 2-wire limit switch IR J4 2-wire limit switch IL J2 3-wire heel strike IR J2 3-wire heel strike IL 2-wire Motor Power J3 6-wire motor encoder i. feet Motor controller feet inner Motor controller steering inner Steering motor 2-wire motor power Term Center battery Steering angle sensor J2 3-wire sensor cable Limit switches J7 CAN 3-4

3. Left thigh Motor controller GPS Motor controller hip Hip motor Top Data Leg 6-wire CAN 1-2 6-wire CAN 3-4 in 6-wire Hip Encoder PWR -+ 2-wire Motor Power 6-wire Foot OL Encoder 6-wire Motor Encoder Hip Limit Switch OL Heel Strike OL Term 6-wire CAN 3-4 out

4. Top bar Left Thigh Center ThighRight Thigh Power switch Robot chassis ground – one connection BATT+GND SYS+ Center power Outer left limit switch Outer left heel strike 6-wire Hip Encoder 6-Wire CAN 1-2 6-Wire CAN 3-4 6-Wire CAN 1-2 6-Wire CAN 3-4 6-wire Hip Encoder Outer left heel strike Outer left limit switch