This paper proposes a new robot system architecture through development of a BLDC motor driver with an embedded high-level controller. The developed BLDC motor driver not only performs
basic driver functions, such as motor driving and low-level control (position, speed, current control), but also it is possible to directly connect various sensors and through this, high-level control such as
model-based torque estimation, walking support algorithm, etc can be performed. If this is applied to relatively simple applications, the conventional robot system architecture of sensor-main controllermotor driver can be simplified to sensor-motor driver, which is main controller is removed. In addition, it is possible to realize a short control period by distributing large scale operations and data processing to the driver level.