september 2018 * IEEE ROBOTICS & AUTOMATION MAGAZINE * 27 Power Figure 4. A connection diagram of the electrical system. Sensing and Low-Level Communication 4× Hall Effect Sensors Incremental Encoder Motor Coils Thermistors Absolute Encoder (Spring) EtherCAT Wi-Fi 12 V Robot Computer Ethernet Wireless Router E-Stop Bus 2× Hip 19 V Ethernet Hall Effect Sensors Incremental Encoder Motor Coils Thermistors Absolute Encoder Simulink Real-Time 5V 60-A Motor Driver 48 V Medulla (Hip) EtherCAT E-Stop Button Microsoft Windows MATLAB 2015a Absolute Encoder (Motor) Leg (Half) E-Stop Bus Bluetooth 200-A Motor Driver 48 V 12 V Medulla (Leg) 12 V PlayStation 3 Controller Control Computer Robot 12 V Wi-Fi 12 V 19 V 48 V IMU 19 V Bluetooth 1× Fiber-Optic Gyroscope 12 V Medulla (IMU) 12-V Regulator 1× 12-V Regulator 19-V Regulator Switch Lithium Polymer Batteries (48 V) Power