# Fixing MIT Mini Cheetah

A USB port issue.

Different from the Unitree dogs, the Mini Cheetah uses a single piece of aluminum casing for the body. So we need to remove one end completely to access the internals.

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2F0SH0LjB992aVe8dM8C1E%2FPXL_20220826_212703425.jpg?alt=media&#x26;token=796e72aa-7cfa-454b-8572-2f83d73bb032" alt=""><figcaption></figcaption></figure>

After removing the screws surrounding the end cap, we can pull the motors out and access the computer inside.

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2FEuGOXLq5bLt7gYGeDODo%2FPXL_20220826_213552567.jpg?alt=media&#x26;token=aafcacc6-cad5-4846-a567-3b165f481cbe" alt=""><figcaption></figcaption></figure>

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2FpF6ldGWqMnpmUsWmGnaF%2FPXL_20220826_212652861.jpg?alt=media&#x26;token=da8b497b-44f8-4b92-bf11-ff4916160502" alt=""><figcaption></figcaption></figure>

The issue is that the USB expansion board mounted on the body is not working. So we ended up getting a new expansion hub and just glued it to the frame. It's tricky to get one with similar dimension.

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2Fh36WWyPYz1DkTlqrTe6Z%2FPXL_20220826_212656827.jpg?alt=media&#x26;token=500fb2e8-3509-4ac9-aa91-179ca3f2f1d2" alt=""><figcaption></figcaption></figure>

<figure><img src="https://1287130752-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FvVJ0h2a4qMIhB1I8GdV8%2Fuploads%2Fu0UQ4bq282zYawLWcJqo%2FPXL_20220826_212659951.jpg?alt=media&#x26;token=6e7b6998-b74c-4f3d-a7bf-414dd6853fa5" alt=""><figcaption></figcaption></figure>