The figure above gives a general overview of the hardware scheme. The bold lines show the power connections.
Part details can be found in the Oncilla - Part Description
|S0||Servo motor connected to the RB 110 to control the L0 joints|
|ME1 (Q1)||Magnetic encoder of L1 joint|
|ME2 (Q2)||Magnetic encoder of L2 joint|
|ME3 (Q3)||Magnetic encoder of L3 joint|
|F_i||Load cell mounted in the body (separate for each leg)|
All electronic devices communicate together with a rs-485 bus implementing the SBCP protocol.