diff --git a/iCubTemplates/iCubTemplateV6_0/hardware/battery/battery_part.xml b/iCubTemplates/iCubTemplateV6_0/hardware/battery/battery_part.xml
new file mode 100644
index 0000000000..77ba6bdb2f
--- /dev/null
+++ b/iCubTemplates/iCubTemplateV6_0/hardware/battery/battery_part.xml
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE device PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<!-- value for name should be the same as the one defined in the wrapper file. Type is embObjBattery-->
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="battery_device_name_as_in_wrapper" type="embObjBattery">
+
+    <xi:include href="../../general.xml" />
+    <!-- Here you should include the body part, which the battery electronic device (bat or bms) is attached to. It should be the body part represented by the ems board connected to bat or bms-->
+    <xi:include href="../electronics/body_part-ebX-jA_B-eln.xml" />
+
+    <group name="SERVICE">
+
+        <param name="type"> eomn_serv_AS_battery </param>
+
+        <group name="PROPERTIES">
+
+            <group name="CANBOARDS">
+                <!-- Type is bat for the BAT board and bms for the BMS board-->
+                <param name="type">                 bat             </param>
+
+                <group name="PROTOCOL">
+                    <param name="major">            0                   </param>
+                    <param name="minor">            0                   </param>
+                </group>
+                <!-- versions as defined in the FW of BAT - for BMS you should use 1.2.0 or leave all zeros if have any problems in matching the versions -->
+                <group name="FIRMWARE">
+                    <param name="major">            1                   </param>
+                    <param name="minor">            3                   </param>
+                    <param name="build">            0                   </param>
+                </group>
+            </group>
+
+            <group name="SENSORS">
+                <param name="id">                   battery1        </param>
+                <!-- same as the type above-->
+                <param name="board">                bat             </param>
+                <param name="location">             CAN2:1          </param> <!-- this is the CAN location. It should be on CAN2 since on CAN1 we have the FT sensors-->
+            </group>
+
+        </group>
+
+
+        <group name="SETTINGS">
+            <param name="enabledSensors">            battery1        </param>
+            <param name="acquisitionRate">           1000            </param>   <!-- msec -->
+        </group>
+
+
+    </group>
+
+</device>
\ No newline at end of file
diff --git a/iCubTemplates/iCubTemplateV6_0/icub_all.xml b/iCubTemplates/iCubTemplateV6_0/icub_all.xml
index c66d3d2445..ed3a77949e 100644
--- a/iCubTemplates/iCubTemplateV6_0/icub_all.xml
+++ b/iCubTemplates/iCubTemplateV6_0/icub_all.xml
@@ -98,6 +98,14 @@
     <!-- CARTESIANS --> 
     <xi:include href="cartesian/left_arm-cartesian.xml" />
     <xi:include href="cartesian/right_arm-cartesian.xml" /> 
+
+    <!-- battery BAT -->
+    <xi:include href="wrappers/battery/battery_bat.xml" /> 
+    <xi:include href="hardware/battery/battery_bat.xml" /> 
+    
+    <!-- battery BMS -->
+    <xi:include href="wrappers/battery/battery_bms.xml" /> 
+    <xi:include href="hardware/battery/battery_bms.xml" /> 
     
     </devices>
 </robot> 
diff --git a/iCubTemplates/iCubTemplateV6_0/wrappers/battery/battery_part.xml b/iCubTemplates/iCubTemplateV6_0/wrappers/battery/battery_part.xml
new file mode 100644
index 0000000000..3eafc06971
--- /dev/null
+++ b/iCubTemplates/iCubTemplateV6_0/wrappers/battery/battery_part.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="battery_wrapper" type="battery_nws_yarp">
+    <param name="period">       1.0                     </param>
+    <param name="name">       /ergocub/battery/bat      </param> <!-- name of the port on which you wish to see the values managed by this device-->
+
+    <action phase="startup" level="5" type="attach">
+        <paramlist name="networks">
+        <!-- The param value must match the device name in the corresponding body_part-ebX-jA_B-hw.xml file -->
+            <elem name="battery">  battery_bat </elem> <!-- same name as in hardware/battery/battery_part.xml-->
+        </paramlist>
+    </action>
+
+    <action phase="shutdown" level="5" type="detach" />
+</device>
\ No newline at end of file