> For the complete documentation index, see [llms.txt](https://tk233.gitbook.io/notes/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://tk233.gitbook.io/notes/mechanical/dog-stuff/fixing-mit-mini-cheetah.md).

# 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="/files/QDvxzlKsKjOVPVMKFtTC" 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="/files/jKvKIiQugvlK9pBtKXjW" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/z8JoPtI2UtesYk4wTa1p" 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="/files/Qy83l9vrOW8qxaLy95jN" alt=""><figcaption></figcaption></figure>

<figure><img src="/files/0D66EaexpPK1iiqQ2QAE" alt=""><figcaption></figcaption></figure>