CESAR   CESAR test equipment driving 2 real joints (bottom part of the cabinet) and a virtual robot (shown in monitor) General Architecture     CESAR Schematics: RCU (Robot Control Unit) connected to SCUs (Servo Control Units) and ADIOB (A/D IO Board) Hardware Implementation     CESAR Hardware: RCU (Robot Control Unit), SCU (Servo Control Unit) and ADIOB (A/D IO Board) Last update: 27 September 2006