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In comparison to other robots, the development of humanoid robotic systems creates unique electrical challenges. First of all, the weight and limited space for the electronics need to be considered. Secondly, the large variety of sensors, which need to be interfaced, have to be taken into account. Lastly, and more importantly, the demand for hard real-time, high-frequency control loops for the predictable control of such complex systems have to be met. Unlike other well-developed robotic systems, like wheeled robots where the controllers and sensors can easily be taken off-the-shelf and then integrated, developers of humanoid systems place a higher priority on compactness and weight. To reduce the amount of electrical cables running from the actuators and sensors to a centralized controller, developers have taken a distributed approach ( Nagakubo et al., 2003; Kanehiro et al., 2006; Cheng et al., 2007), where the low level controllers are distributed over the whole humanoid robot. This leads to the benefit of reduced cables as well as compactness. Additionally, when the controllers can be placed in close proximity to the sensors and actuators they control, they have the advantage of minimizing latency between the low-level control loop implemented on the controller. However, it does pose its own problem: How is it possible to handle the vast quantity of information that needs to be communicated to the central processing unit with minimal latency, while also ensuring a fully operational system at the same time?  <a href="https://gigasoft.us/product/sony_cd_architect_5_2/">Sony CD Architect</a>
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