The BOE Shield connections to the Arlo’s DHB-10 motor control board use the same servo ports as the ones you used to connect to your Shield-Bot’s servos.  

• Turn off the Arlo’s MAIN and MOTOR power switches.
• Set the BOE Shield’s 3-position power switch to 0.
• Use a 4-inch 3-wire cable to connect the BOE Shield’s P13 servo connector to the DHB-10’s CH1 port.
• Use another 4-inch 3-wire cable to connect the BOE Shield’s P12 servo to the DHB-10’s CH2 port.
• IMPORTANT! Make sure the jumper between servo headers P12 and P11 is set to 5V, NOT Vin. See image, below.
  
• Connect the Arlo’s +6.5 V Aux barrel plug to the Arduino’s barrel jack.