**Turbodriver** - Turbodrivers are the motor controllers for pretty much all series elastic joints on Valkyrie. These can be found throughout the robot. They are not very visible with the covers on.
**Vanguard** - Vanguard is a software suite used to empower operators to interact with remote systems (like robots) in a safe, managed way, over communication channels that would normally allow unsafe commanding. Tasks ranging from editing files, to installing software, to starting and stopping the processes are accomplished through a well-defined communication interface. Vanguard implements the Majordomo Protocol(https://github.com/zeromq/majordomo) with a collection of task-specific workers and accompanying clients. The deployment of Vanguard components is flexible and can be custom tailored to meet the needs of simple "remote execution" systems as well as human-rated safety critical systems.
* Zelda-The non real-time computer. Zelda is located on the robots left.
