Boston Acoustics SPOT 2.0.1 User manual
SPOT ENHANCED
AUTONOMY PACKAGE
SPOT 2.0.1
© Boston Dynamics 2020
All rights reserved
July 2020
Boston Dynamics
78 4th Ave.
Waltham, MA 02451
USA
(617) 868-5600
Boston Dynamics proprietary & confidential 2
SPOT ENHANCED
AUTONOMY PACKAGE
CONTENTS
INTRODUCTION
DOCUMENTATION AND TRAINING
SPOT DOCUMENTATION AND TRAINING RESOURCES
EAP COMPONENTS
WHAT’S IN THE BOX
SPOT LIDAR CABLE CONNECTORS
LIDAR CAMERA ASSEMBLY
ATTACHING THE
EAP ASSEMBLY
ATTACH THE SPOT CORE AND LIDAR UNIT TO THE ROBOT
DETACHING THE CORE COMPUTER FROM SPOT
DEFAULT PASSWORD
AUTHORIZING THE SPOT EAP
EAP SPECIFICATIONS
LIDAR SPECIFICATIONS
DOCUMENT CHANGE HISTORY
Boston Dynamics proprietary & confidential 3
INTRODUCTION
The Spot Enhanced Autonomy Package (EAP) combines a Spot CORE payload with a new
LIDAR assembly to enhance sensing capabilities for the Spot robot.
The LIDAR sensor helps to extend the robot's operational range in feature deserts — areas
that lack sufficient physical features the robot needs to localize itself to a position in a
GraphNav or Autowalk map.
EAP assembly showing Spot CORE, LIDAR mount, LIDAR, and roll cage
Boston Dynamics proprietary & confidential 4
DOCUMENTATION
AND TRAINING
Please refer to the Spot CORE Payload Reference for detailed information about Spot
CORE, including:
●Updating Spot CORE software
●Downgrading Spot CORE software
●Restoring Spot CORE software
●Spot CORE specifications
If you have an Enhanced Autonomy Package, you will need to take note of this when
choosing which installations to download.
SPOT DOCUMENTATION AND TRAINING RESOURCES
Visit and subscribe to Boston Dynamics Support on YouTube to watch training videos on
all aspects of Spot setup and operations.
Boston Dynamics proprietary & confidential 5
EAP COMPONENTS
Components of the Spot EAP payload include:
●Velodyne Puck LIDAR, mount plate, and
roll cage
●Integrated Spot CORE (contains Spot GXP)
Spot CORE provides additional computing
capability.
The Spot GXP is a part of Spot CORE and provides
network and data interfaces and regulated power
in an integrated package.
WHAT’S IN THE BOX
ITEM
DESCRIPTION
Spot CORE unit
The Spot CORE assembly
Spot CORE AC adapter
Power supply for the Spot CORE computer when detached or
disconnected from the robot
LIDAR cable
Connects the Spot CORE assembly components, including an
optional LIDAR
Ethernet cable
Within the CORE, it connects the computer to the Spot GXP
USB stick
Contains Spot CORE system recovery image
Boston Dynamics proprietary & confidential 7
CORE Mounting Kit
Fasteners for mounting the Spot CORE unit
LIDAR assembly
Includes Velodyne Puck, roll cage, and mount
LIDAR Mounting Kit
Fasteners for mounting the LIDAR assembly
SPOT LIDAR CABLE CONNECTORS
The LIDAR cable connects the GXP, CORE computer, and LIDAR camera to provide data
and power connections. The cable is built into the CORE.
LIDAR cable
CABLE CONNECTOR
CONNECTS TO:
LIDAR cable M12
LIDAR camera
LIDAR cable DC power
CORE DC input
LIDAR cable RJ45
CORE LAN 2
LIDAR cable DB15
Spot GXP DB15
LIDAR cable DB9
Unused for the EAP payload
Ethernet: GXP RJ45
CORE LAN 1
Boston Dynamics proprietary & confidential 8
LIDAR CAMERA ASSEMBLY
Top, front, side views
The LIDAR camera assembly consists
of four integrated components:
●Roll cage with plastic guard
●LIDAR Velodyne Puck sensor
●Mount assembly
●LIDAR cable
Weight: 1.6 kg
Overall dimensions:
●Height: 158.8 mm
●Width: 180 mm
●Length: 176.2 mm
Boston Dynamics proprietary & confidential 9
ATTACHING THE
EAP ASSEMBLY
The Spot EAP can be attached to the robot in the rear position and connected to
the rear payload port. The CORE unit is oriented with the GXP towards the front
of the robot.
ATTACH THE SPOT CORE AND LIDAR UNIT TO THE ROBOT
Tools needed
●Phillips #1-2 screwdriver
●Torque wrench
●M5 allen key
●Threadlocker
Parts needed
●Spot CORE unit
●LIDAR unit
●Four M5x8 socket head screws for CORE
●Two M5x20 socket head screws for
LIDAR
●Two M5x80 socket head screws for
LIDAR
●Two M5 10mm spacers
●Six t-slot nuts
1. Power down the robot and position it on the ground or on a bench in sit pose.
2. Lay the Spot CORE assembly on the back of the robot with the GXP facing toward
the front of the robot and the ribbon cable pointed to the rear.
3. Remove the rear payload port cap and keep in a safe place. The robot will not
operate without the payload cap or a payload attached to the port.
4. Attach the free end of the payload cable to the port and tighten the mounting
screws to 0.2 N*m.
5. Insert three t-slot nuts on each side of the payload rails, taking care that the tip of
the set screw is pointed down. Loosen the set screw, if needed, to fit the nut into
the slot so that it lays flat and moves freely. Do not tighten the set screws.
6. Slide the t-slot nuts into position under the four connection points in the CORE
base plate. The CORE will utilize the front most and rear most t-slot nut.
7. The LIDAR mount will utilize a t-slot nut between the two CORE t-slot nuts and two
rear bolt holes on Spot. Remove the two rear M5 bolts, keep those in a safe place.
8. Apply threadlocker to the four 8mm socket head screws for CORE and two 80mm
for LIDAR) and thread each one into a t-slot nut. Finish by tightening the four
socket head screws to 5 N*m.
Boston Dynamics proprietary & confidential 10
9. Apply threadlocker to the two 20mm socket head screws and thread each one into
the rear of Spot through the LIDAR mount. Finish by tightening the two socket
head screws to 5 N*m.
10. Apply threadlocker to the two 80mm for LIDAR and thread each one into a t-slot
nut. Finish by tightening the two socket head screws to 5 N*m.
11. Attach the gray CORE LIDAR M12 connector to the M12 connector on the LIDAR.
Hand tighten. Note the connectors are keyed so take care that the connectors are
properly aligned.
DETACHING THE CORE COMPUTER FROM SPOT
Detaching the CORE computer makes it easier to connect a display, keyboard, and
mouse.
To detach the CORE unit from the robot:
1. Remove the Spot CORE assembly from the robot following the installation process
in reverse order.
2. Turn the unit over to access the HDMI port for attaching an external monitor.
3. Unplug the DC power from the gray cable and attach the wall supply DC adapter.
4. When reattaching Spot CORE, be sure to observe proper torque values for all
fasteners.
DEFAULT PASSWORD
The CORE computer is configured with default login credentials with the password
printed on a label affixed to the Spot CORE.
Boston Dynamics proprietary & confidential 11
AUTHORIZING THE
SPOT EAP
To activate the EAP after mounting it on the robot, the payload must be authorized in the
robot's admin console.
1. Log in to the admin console web page with an admin account. By default, the
console address is: http://10.0.0.3.
2. Open the Payloads section of the console.
3. A message appears requesting payload authorization.
4. The payload is Spot CORE Rear, Attached Lidar. Click Authorize.
5. The payload is ready for use.
NOTE: If the robot’s IP number has been changed, use the updated IP in the corresponding
console URL.
Boston Dynamics proprietary & confidential 12
EAP SPECIFICATIONS
ITEM
VALUE
Length
300 mm
Width
190 mm
Height
162 mm
Weight
3.6 kg
Environmental rating
IP54
Operating temperature
-10°C to + 50°C
Storage temperature
-40°C to +105°C
Customer usable mounting holes
162 mm above robot plane, centered -456 mm from
ICD center. 10x M5 bolt holes, 136mm mm Bolt Circle
Diameter
Boston Dynamics proprietary & confidential 13
LIDAR
SPECIFICATIONS
Please visit the Velodyne LIDAR website for detailed documentation on the Velodyne Puck LIDAR:
https://velodynelidar.com/products/puck/#downloads
ITEM
VALUE
Velodyne LIDAR model
Puck
Sensor
16 Channels
Measurement range
100 m
Range accuracy
Up to ±3 cm
Field of view (vertical)
+15.0° to -15.0° (30°)
Angular resolution (vertical)
2.0°
Field of view (horizontal)
360°
Angular resolution
(horizontal/azimuth)
0.1° – 0.4°
Rotation rate
5 Hz – 20 Hz
Other
Integrated web server for monitoring and configuration
Laser product classification
Class 1 eye-safe per IEC 60825-1:2007 & 2014
Laser wavelength
903 nm
Power consumption
8 W
Operating voltage
9 V – 18 V (with interface box and regulated power supply)
Environmental protection
IP67
Operating temperature
-10°C to +60°C
Storage temperature
-40°C to +105°C
Output
3D LIDAR data points generated:
●Single return mode: ~300,000 points per second
●Dual return mode: ~600,000 points per second
100 Mbps ethernet connection
UDP packets contain:
●Time of flight distance measurement
●Calibrated reflectivity measurement
●Rotation angles
●Synchronized time stamps (µs resolution)
GPS: $GPRMC and $GPGGA NMEA sentences from GPS
receiver (GPS not included)
Boston Dynamics proprietary & confidential 14
DOCUMENT
CHANGE HISTORY
Document version
Date
Change description
1.0
July 2020
Initial release
Boston Dynamics proprietary & confidential 15
Table of contents
Other Boston Acoustics Robotics manuals
Boston Acoustics
Boston Acoustics SPOT Instruction Manual
Boston Acoustics
Boston Acoustics SPOT Specification sheet
Boston Acoustics
Boston Acoustics SPOT Specification sheet
Boston Acoustics
Boston Acoustics SPOT User manual
Boston Acoustics
Boston Acoustics SPOT Specification sheet
Boston Acoustics
Boston Acoustics SPOT User manual
Boston Acoustics
Boston Acoustics SPOT User manual
