The motor board appears to consist of 11 H-Bridges. Signal voltage appears to be ~3 Volts. Signals are a mix of various PWM and non PWM, I have not recorded which are which yet, but I beleive it is related to the form of position feedback the joint has (Pot, Encoder Board, Limit Switch or None). At some point I will go through and figure out which is which. I also want to go back and double check these. It took me a while to realize it, but they eyes are not actualy controlled seperately, they are slaved to the head motions. So when the head moves left, the eyes will rotate to the left, this means the signal on the eye pins should be 9 volt outputs.

The main driving transistors for the H-Bridges are A928A (PNP) and C2328A (NPN) the datasheets for which are available here and here. Each H-Bridge appears to consist of several resistors, 8 transistors and a diode. If anyone can come up with a schematic for this, let me know ( I'm assuming its somewhat similar to this).

Motor Board: This photo shows a close up of the RoboSapien V2's Motor board.


Photos of the RoboSapien V2's Motor board

Motor Board: This photo shows a close up of the underside of the RoboSapien V2's Motor board.