Patent ID: 8180202

Claim:
A robot comprising, a robot body having a plurality of joints; a plurality of servos attached respectively to said plurality of joints; a controller for controlling said plurality of servos using differential signals; a transmission path connected between said controller and said plurality of servos, said transmission path including: a first and a second signal line each acting as a differential signal line, a ground line, and a power line to which a power source voltage is supplied; a power source for supplying electric power to said controller and said plurality of servos, wherein said plurality of servos are operated based on said differential signals providing serial communications from said controller to achieve a predetermined movement of said robot; and a reference voltage generator circuit disposed on said transmission path to hold one of the first single line and the second signal line outputting one of a pair of differential signals output from said controller, and varying between the potential of said power line and the potential of said ground line at a constant intermediate potential between said differential potentials, wherein the reference voltage generator circuit is connected with one of the first signal line and the second signal line, and is disconnected from the other of the first signal line and the second signal line, wherein the servos includes both a servo conforming to RS-485 and a servo conforming to TTL, wherein the servo conforming to RS-485 is in connection with the first signal line, the second signal line, the ground line, and the power line, and wherein the servo conforming to TTL is in connection with the other of the first signal line and second signal line, the ground line, and the power line.