42 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2017 Vc5 Vc14 Hub Vc5 Vc12 Vc12 Vc12 CPU Board (LEPRACAUN-CPU, General Robotics) IO Board (Lepracaun-IO, General Robotics) × 3 Vc14 Auxiliary Wheel Sensor SW Photoelectronic Sensor for Obstacle × 12 Photoelectronic Sensor for Floor (BGS-2S30N, OPTEX) x 4 Vd5 Vd48 Brushless Motor with Encoder × 2 Brushless Motor Driver (TEC-3PMD-RB-B8, TECNO CRAFT) × 2 Motor Interface Board (MT2) Brushless Motor with Encoder × 2 Encoder Interface Board (EI) × 2 Vc12 Encode Interface Board (EI) dc Motor dc Motor Driver (1×H Power Module, HIBOT) Vd24 Vd5 Vc5 Optical Sensor 11) Front Roll 12) Rear Roll 13) Auxiliary Wheel dc Motor with Encoder × 2 dc Motor Driver (1×H Power Module, HIBOT) × 2 Vd48 Vd5 Motor Interface Board (MT3) 2) Front Right Wheel 7) Front Steering 8) Rear Steering 4) Rear Right Wheel 9) Pitch 10) Footrest 6) Slider Left/Right Vd5 Vc12 1) Pitch and Footrest 2) Front and Rear Roll Vd24 Motor Brake Controller Board Vc12 (BC) × 2 Motor Brake × 4 Vd48 Brushless Motor with Encoder × 3 1)Pitch 2) Footrest 3) Front Roll 4) Rear Roll 1) Front Left Wheel 3) Rear Left Wheel 5) Slider Forward/ Backward Actuator Brushless Motor with Encoder × 3 Brushless Motor Driver (TEC-3PMD-RB-B8, TECNO CRAFT) × 3 Motor Interface Board (MT1) Vd5 Figure 6. The electrical and computer system of the P-WA. PG: power generator; PC: personal computer; IO: input/output; SW: switch; EI: encoder interface; BC: brake controller. (Continued) LED-Indicator (Arduino) Joystick (PIC with XPort) Computer Posture Sensor Interface Board Posture Sensor (VSAS-T1, Tokyo Keiki) Sensor Encoder Interface Board (EI) × 3 Vc12