====== HUBO Hardware Setup and Info ======

**Author:** Dylan Wallace Email: <wallad3@unlv.nevada.edu>
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**Date:** Last modified on 10/28/16
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**Keywords:** Humanoid, HUBO, Hardware
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This tutorial is designed to teach DASL members what hardware HUBO has, and how to comfortably use this hardware with HUBO.

===== Lifting HUBO =====

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HUBO is hoisted upon the large gantry pictured above. HUBO needs to be hoisted up during testing, power-on, calibration, power-off, and storage. HUBO is attached to the gantry by the carabiner clip to the large metal loop behind is head. Below is a picture of this.

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We can raise and lower HUBO using the yellow controller that hangs from the gantry. Simply press the up button to raise him, or the down button to lower him. It is important to **always** keep the controller on standby when operating HUBO, to make sure that the gantry can be used to brace his fall.

===== Computing and Electronics =====

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Pictured above is the back electronics panel for HUBO. The computing power for HUBO is split into two separate Intel NUCs. One NUC is for computer vision, and the other is for motion. Usually, the top one is the vision computer, and the bottom is the motion computer, but the order is not necessarily important. Make sure that your power plugs are plugged into each computer, and that the HDMI cable is attached to whichever computer you wish to monitor (it is possible to do both with two different sets of monitors and peripherals). Both computer can also be accessed remotely, but it is usually fastest to use wired access for quick testing in the lab.

With the motion computer, we must also make sure that the USBs for CAN are plugged into the proper ports. The USB cable labeled "1" should be plugged into the top port, and the cable labeled "2" should be plugged into the bottom port.

===== Back Panel Router =====

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When using HUBO wirelessly/remotely, it is necessary to use HUBO's back panel for the WiFi router and battery power. The picture above shows the back panel for HUBO. The external battery pack for the router is inserted into the top compartment, and the router is slid onto the two bolts.

===== Battery Power =====

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In order to use HUBO, we must have the batteries installed into HUBO, even if we is plugged into AC power. The batteries are the two large blue units pictured above. Together, these two batteries push out 48V of power. They easily slide into HUBO's torso. Once inserted, they are good-to-go for use.

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In order to charge the batteries for HUBO, we must use the charger pictured above. The charger must use an inverter to convert the 110V to 220V. In order to charge the batteries, we simply make sure that the charger is plugged in, and then we attach the charger to the battery.

===== Power-On & Power-Off =====

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In order to **power-on** HUBO, we must first make sure that both batteries are inserted into HUBO, and that the AC power cord is screwed on. Next, we will turn on the HUBO power supply near the gantry. Before powering on anything, we will first switch on the main power, which is the small black switch pictured above. Now, turn on the PC-12V power using the middle switch on HUBO's back. Next, the 12V power to the left, and then the 48V power to the right. After this, HUBO is ready to use. At this point, if you want to switch to solely battery power, you can.

In order to **Power-off** HUBO, we will repeat the previous steps for power-on, but in the reverse order. Once done, the batteries can be removed and plugged-in for charging.

**Note: HUBO 48V power can be switched off remotely, using the small grey remote for emergency stop**

==== Final Words ====

This tutorial's objective was to teach the concepts behind the hardware setup of DRC-HUBO. Complete operation instructions for turning DRC-HUBO on/off were provided. Once the concepts were conveyed the reader could successfully power on/off DRC-HUBO, charge the batteries, and operate the hoist.
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For questions, clarifications, etc, Email: <wallad3@unlv.nevada.edu>