Author: Ethan Nowery, Email: nowery@unlv.nevada.edu

Date Last Modified: 10/21/2024

Keywords: Jaemi Hubo, step-by-step, tutorial

Before (right leg) and after (left leg) I finished rewiring.

The reason for this tutorial is to show how to deconstruct and rewire Jaemi HUBO, in order to learn more about Humanoids and to perform cable maintenance on the robot. Those reading this tutorial are assumed to be interested in: humanoids and robotics.
For this tutorial I will be using Jaemi's legs as examples for the deconstruction and rewiring. If I feel that the arms and other parts need their own sections, I will add those later.

All of Jaemi's wires are labeled with what they are used for. The labels use acronyms, since explaining can be lengthy. The label template goes as follows; side of body (left or right), body part, axis of movement (roll, pitch, yaw), - E or L or nothing. EX: the wires that feed the Right Hip motors that control the Roll axis are labeled as RHR, RHR-E for the encoder, and RHR-L for the limit switch.

Picture of Wire(s)	Color of Wire(s)	Purpose	Originates → Plugs into
	Red, Black, and White	48v power supply	Motors → Microcontrollers
	Blue, Black, and Brown	Limit Switch Signal	Limit switch → Microcontroller
	Black and White	CAN Channel	Hip → every Microcontroller
	Gray, Red, Green, Black, Blue, White	Encoder Data Transmission	Motor Encoders → Microcontroller

Take the shell off of Jaemi. This is self-explanatory and the shell can be removed without consulting documentation. I will be using the legs as examples for this tutorial.

Unplug the cords that connect Jaemi's hip and torso.

Make sure Jaemi is either standing on the ground, laying on a flat surface, or suspended with someone holding up the leg that you are removing. Remove the 6 M4 sized screws (3 in the front, 3 in the back) shown. This will release the leg from the body.

Lay the leg down on your work surface facing down so that you can see all of the wiring in the back of the leg.