Author: <Baekseok Kim> Email: kimb52@unlv.nevada.edu
Date: Last modified on <01/13/23>
Keywords: Jaemi Hubo, Restoring Hubo, Restoring Gantry

This tutorial's motivation is to demonstrate how to setup, maintenance and operate Jaemi-Hubo. Readers of this tutorial assumes the reader has the following background and interests:

* Have prior experience with C++ Programming
* Some basic knowledge on the Can Communication and Robotics
* Understand the limitation and danger of working with machinery

before restoring Jaemi Hubo, We need to find suitable main power board for Jaemi Hubo.

The photo above depicts Jaemi Hubo's main power board. The functions of each part are as follows.

Before turning on Jaemi Hubo, we need to wire main power board, other motor controller and sensors.

motor controllers are using 48V to run and FT sensor, IMU sensor are using 12V to run. And every device uses Can communication to send and receive data.

First of all, connect motor controller power to power board as shown in the picture below. Thick red wire is 48V for motor controller and Thick black wire is ground for motor controller.

The procedure below details the steps needed to operate the Jaemi Hubo and execute basic built-in gestures and walking functionality. It is imperative to follow the instructions in this section exactly as there is no error checking in the Jaemi Hubo GUI.

Before powering the robot or attempting to move any joints, make sure that the robot is lifted off the ground at least 3“ above the ground when the legs are fully extended. If a medical hoist is being used, make sure to spread apart the legs of the hoist using the lever at the rear.

Check to verify that all switches on the power panel behind the Jaemi Hubo are facing down.

Plug in the power supply to an outlet and connect the five pin keyed barrel connector to the back of the Jaemi Hubo's power board.

Turn on the main 48V supply switch on the power panel.

Turn on main PC.

For questions, clarifications, etc, Email: kimb52@unlv.nevada.edu