Boston Acoustics SPOT Specification sheet

Spot®Information for Use
v1.1 Original Instructions
Boston Dynamics, Inc.

Spot Information for Use v1.1
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© Boston Dynamics, Inc. 2021
All rights reserved
Version 1.1
April 2021
Boston Dynamics, Inc.
200 Smith St.
Waltham, MA 02451
USA
[phone]
[email protected]

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Contents
1 Introduction .....................................................................................................7
1.1 Manufacturer information............................................................................................................. 7
1.2 Definition of a Spot User................................................................................................................ 7
1.3 Definition of a Spot Operator ...................................................................................................... 7
1.4 Description of the machinery .....................................................................................................8
1.5 Robot anatomy ....................................................................................................................................8
1.6 Specifications .......................................................................................................................................9
1.7 Spot Explorer and Spot Enterprise......................................................................................... 10
2 Product safety overview........................................................................... 12
2.1 Intended use ........................................................................................................................................12
2.2 Restrictions on the environment .............................................................................................13
2.2.1 Environmental conditions........................................................................................................... 14
2.3 Misuse ......................................................................................................................................................15
2.4 EMC considerations......................................................................................................................... 16
2.4.1 Radio considerations: .................................................................................................................... 16
2.4.2 Laser......................................................................................................................................................... 16
2.5 Noise .........................................................................................................................................................17
3 Transport, handling, and storage........................................................18
3.1 Transport ............................................................................................................................................... 18
3.2 Safe handling...................................................................................................................................... 19
3.2.1 Safe conditions for handling Spot .......................................................................................... 19
3.2.2 Pinch points........................................................................................................................................ 20
3.2.3 Handles.................................................................................................................................................. 20
3.2.4 Proper two-person lift.....................................................................................................................21
3.2.5 PPE............................................................................................................................................................22
3.3 Storage ...................................................................................................................................................22

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3.3.1 Battery storage ..................................................................................................................................23
4 Installation and commissioning .........................................................24
4.1 Before starting................................................................................................................................. 24
4.2 Preparation ......................................................................................................................................... 24
4.3 Spot robot payloads........................................................................................................................25
4.3.1 Qualification of notable attachments..................................................................................26
4.3.2 Safety-related payloads.................................................................................................................26
4.3.3 Mounting payloads..........................................................................................................................27
4.3.4 Configuring payloads.....................................................................................................................27
4.4 Battery setup and charging ...................................................................................................... 28
5 Use of the machine ....................................................................................30
5.1 Spot controls on the robot ......................................................................................................... 30
5.2 Robot status lights............................................................................................................................31
5.3 Spot tablet controller .....................................................................................................................33
5.4 Starting the robot.............................................................................................................................33
5.5 Modes of operation......................................................................................................................... 34
5.5.1 Obstacle avoidance........................................................................................................................ 34
5.5.2 Navigating stairs ...............................................................................................................................35
5.6 Stopping the robot ..........................................................................................................................36
5.6.1 Manual stop using the controller............................................................................................36
5.6.2 Operational stop ...............................................................................................................................37
5.6.3 Protective stop ...................................................................................................................................37
5.6.4 Starting back up after a stop....................................................................................................40
5.7 Turning off Spot................................................................................................................................40
6 Maintenance ...................................................................................................41
6.1 Cleaning the robot........................................................................................................................... 41
6.2 Spot Dock connector cleaning ................................................................................................. 41
6.3 Recalibration with SpotCheck ................................................................................................. 42

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7 Emergency situations...............................................................................43
7.1 Fire ........................................................................................................................................................... 43
7.2 Harm caused by Spot to persons or facilities.................................................................. 43
8 Residual risks of operation.....................................................................44
8.1 Hazardous materials......................................................................................................................44
8.2 Electrical hazards: Direct/indirect contact with live parts.......................................44
8.2.1 Accidental exposure to high EMI or high voltage ........................................................ 45
8.3 Non-ionizing radiation considerations................................................................................ 45
8.4 Hazards related to locomotion ................................................................................................ 46
8.4.1 Accidental impacts.........................................................................................................................46
8.4.2 Unexpected movements during regular locomotion ................................................ 46
8.4.3 Potential hazards associated with stopping Spot ........................................................ 47
8.4.4 De-energized state ......................................................................................................................... 47
8.4.5 Loss of stability and falls..............................................................................................................48
8.4.6 Potential contact when far from the robot...................................................................... 49
8.4.7 Residual risks with contact events........................................................................................ 50
8.5 Pinch points during motion .......................................................................................................51
8.6 Risks associated with changes in mission profiles ........................................................51
9 Compliance statement ............................................................................ 52
9.1 EU Declaration of Conformity....................................................................................................52
9.2 Validity of declaration ....................................................................................................................53
9.3 Marking ..................................................................................................................................................53

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1 Introduction
This document contains critical safety information for the Spot robot.
Responsible use of Spot is crucial to prevent dangerous conditions for operators and
others nearby. Make sure to read, understand and comply with this document to lessen
the risk of injuries or damage to the robot or other property.
Please read the entire document before using Spot and keep the document in a readily
accessible location afterwards.
Complete user and developer documentation on the Spot robot platform is available on
the Boston Dynamics Support Center.
1.1 Manufacturer information
Spot is manufactured by:
Boston Dynamics, Inc.
200 Smith Street
Waltham, MA 02451
USA
1.2 Definition of a Spot User
In the scope of the present document, a “User” is the entity that uses Spot for the
intended use and is responsible for the personnel associated with the robot operation.
Users are subject to workplace safety regulations and are active counterparts of the
manufacturer in implementing residual risk reduction measures.
1.3 Definition of a Spot Operator
In the scope of the present document, an “Operator” is any person operating,
maintaining, cleaning, or troubleshooting Spot under the responsibility of a User,
including person(s) who can be reasonably expected to be near Spot, even if not directly
operating the robot. Operators must be trained in the use of Spot.

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1.4 Description of the machinery
Spot is a legged robot capable of mobility on a variety of terrains. Spot uses multiple
sensors and 3 motors in each leg to navigate in indoor and outdoor environments,
maintain balance and attain postures.
Refer to training and safety videos on the Boston Dynamics Support
Center for details about Spot usage and behavior.
1.5 Robot anatomy

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Spot robot, operator, battery charger, shipping case, and battery
1.6 Specifications
Robot dimensions
Length: 1100 mm
Width: 500 mm
Height (standing): 840 mm
Height (sitting): 191 mm
Net weight including battery: 31.7 kg (69.9 lbs)
Battery
Battery capacity: 605 Wh
Average runtime (no payload): 90 mins
Standby time: 180 mins
Recharge time: 120 mins
Weight: 4.2 kg
Battery charger
Input voltage: 100-240VAC 50/60Hz 5.5A Max
Output: 35-58.6 VDC 7.2A Max
Operating temperature: 0°C to 40°C
Connectivity
Explorer: 2.4Ghz 802.11 b/g/n
Enterprise:
2.4Ghz 802.11 b/g/n
5Ghz 802.11ac
Gigabit Ethernet

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Terrain sensing
Horizontal field of view: 360°
Range: 4 m
Lighting: > 2 Lux
Collision avoidance: Maintains set distance
from stationary obstacles
Locomotion
Max speed: 1.6 m/s
Max slope: ±30°
Max step height: 300 mm
Payloads
Payloads can be mounted on Spot using the
payload rails and interfaced through payload
ports.
Environment
Ingress protection = IP54
Operating temperature = -20°C to 45°C
Operating Humidity – 0 to 70% RH
1.7 Spot Explorer and Spot Enterprise
Spot has two variants: Explorer and Enterprise.
Feature Spot Explorer Spot Enterprise
Self-charging capability Not available Includes Spot Dock*
Autowalk/GraphNav 1 km total mission map limit Unlimited mission length
Automatic diagnostic
logging
No option to disable Option to disable
Wi-Fi 2.4Ghz
802.11 b/g/n
2.4Ghz and 5Ghz
802.11 b/g/n and 802.11ac
Payload power Always on Toggle state via tablet or API
High-speed mission data
offloading
Not available Quickly offload mission data
through Spot Dock Ethernet
connectivity
* Spot Enterprise Users and Operators should review Spot Dock Information for Use in
the Boston Dynamics Support Center for details about Spot Dock installation and setup.

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Properties of the Spot robot:
• Spot is a self-propelled (battery powered) legged robot.
• The robot uses embedded sensors for detecting the surrounding environment.
• The robot uses a complex set of control algorithms to balance and navigate.
• Spot capability can be expanded with a variety of payloads.
• Spot does not carry persons.
• Spot is operated remotely without a physical connection such as a cable between
control units and the robot.

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2 Product safety overview
Spot is a quadrupedal, dynamically balancing robot with a sophisticated control
methodology.
Spot is a mobile robot with a high degree of autonomy
in locomotion. The robot’s behavior while in motion
can be variable or unexpected with respect to planned
trajectories or movements.
Use caution at all times when operating Spot. Carefully
review the information in this document and follow all
recommendations.
The upright and/or balancing posture can only be
attained with active control.
However, active control does not ensure that stable
balancing is attained.
Stability is also determined by the conditions of the
ground and the environment at any given time. Such
conditions are not entirely predictable and Spot may
fall unexpectedly.
Use caution at all times when operating Spot. Carefully
review the information in this document and follow all
recommendations.
Spot is a complete machine for the purpose and
functions described in this chapter. Conditions for
substantial modification of the machine are reported
in chapter 9.
Boston Dynamics recommends that users conduct a
full risk assessment of their application.
2.1 Intended use
Spot is intended to be used for locomotion or inspection in industrial or controlled
environments, subject to limitations of conditions and preparation by the User after a

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survey of the expected or planned environment.
Spot is not intended for collaborative applications involving human contact, other
than during setup, configuration and environment or robot condition verification.
Spot is intended to be used in dedicated areas, where access is restricted or where
demarcation is made clear to Operators.
Spot may be remotely controlled by properly trained Operators, or autonomously
piloted following configuration or programming by a trained professional.
Where locomotion is expected to be executed autonomously or supervised by a remote
station in largely unsupervised environments, humans are not expected to be present,
or are seldom or accidentally but infrequently present.
Spot is capable of carrying payloads. Payloads are attachments with dedicated purpose
that can be powered by Spot and can provide a specific function, affect the robot’s
locomotion, or actively control Spot.
Payloads that extend or modify the intended use of Spot are outside the scope of
this document and must be considered a substantial modification of the robot. See 9
Compliance statement.
The use of payloads and the type of control functions
that are determined by payloads could result in
hazards. Users must review the intended use of
additional equipment attached to Spot and the effect
of common control functions.
2.2 Restrictions on the environment
Within the scope of this document, an “industrial environment” is a workplace where
non-trained or non-professional Users are restricted from access.
Industrial environments can be structured or semi-structured, provided that the layout,
infrastructure and hardware inside the environment have a designated purpose.
Elements of the layout or objects may be expected to be known or foreseeable by Users
as part of their process.
Users are responsible for the condition of the operating environment. In particular,
Users must ensure that:
• A working area for Spot has been delimited and all Operators and bystanders
exposed to the robot are notified of this area before usage.

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• Spot Operators and observers conform to their employer’s safety guidelines for
the use of PPE.
• Access to the industrial environment is restricted to working adults who have
been informed about the content of this document.
• Public spaces that fail to comply with the restriction from access and are not in
control of trained operators are excluded.
• Untrained personnel and children are excluded from the industrial environment.
• Research laboratories or temporary facilities are eligible for use provided that all
conditions and restrictions apply.
2.2.1 Environmental conditions
Environmental conditions can cause hazards when operating the robot. The
environment must be prepared and checked against known limitations.
Environmental condition Hazard
Cliff edges Spot cannot determine the extent of sudden termination
of a walking surface or a negative obstacle such as a gap
beyond the size of a stair step.
Open and deep edges (“cliff edges”) must be guarded
with the use of blocks, guards, nets, or other infrastructure
components larger than 300 mm.
Presence of sand, dust, and
liquids
Spot is able to walk on sand, dust, and liquids that partially
cover walking surfaces. However, particularly slippery
materials or round particles could compromise the robot’s
stability.
Do not operate the robot if the environment is completely or
largely covered in slippery materials.
Presence of cords Cords can be hard for Spot to detect and may cause tripping
or entangling conditions for Spot legs.
Clear cords and cables from the robot’s path.
Transparent, mirrored or
very bright surfaces
Do not operate Spot on or around transparent, mirrored, or
very bright obstacles.
Transparent, mirrored/mirroring or very bright obstacles
affect or hamper Spot sensors. Ensure that all surfaces in the
operational environment are textured.

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Environmental condition Hazard
Walking surfaces that are
not stable or moving
Spot cannot rely on its sensors if ground surfaces are not
stable.
Do not operate Spot on moving surfaces, such as elevators,
escalators, moving walkways and ramps, vehicles, or boats.
Transportation on a moving platform is allowed if the robot
is in lockout mode.
Steep inclines Do not operate Spot on inclines exceeding +/- 30 degrees.
Excessive stair step height Stair step and riser dimensions must be within 175 x 255-280
mm, with a maximum step of 300 mm.
Lighting Do not operate if lighting sources provide less than 2 lux.
Operating temperatures Do not operate when the temperature is below -20°C or
higher than 45°C.
2.3 Misuse
The following behaviors by Operators or Operators do not correlate with any operational
need for accomplishing a mission/production objective, and do not constitute an
intended use:
• Entering or remaining inside a restricted area designated for Spot operations
other than for the purpose of setting or recording missions
• Approaching and/or staying close to Spot during operation to observe the robot
• Attempting to access moving joints or other robot components during active
Spot operations
• Attempting to make contact with the robot during the onset of instability for
modifying the course of events, including attempts to prevent falls by grabbing,
holding, or propping Spot
• Transportation of persons or animals
• Transportation of hazardous materials or substances
• Intentionally harming any person with the robot or by using payloads mounted
on the robot
• Use for any illegal purpose

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• Use as a climbing aid
• Use in potentially explosive environments
• Use outside the restricted environmental conditions
Any robot misuse can potentially cause severe
personal injuries or result in significant material
hazards.
2.4 EMC considerations
Spot has been tested for EMC compliance according to standards related to heavy
industrial environments. Spot should be able to withstand EMC disturbances typically
found in industrial environments.
Use of Spot in environments with EMC disturbances
greater than those tested for can result in erratic and
uncontrolled behavior from Spot.
Spot has been tested in accordance with the Industrial EMC test standards EN IEC
61000-6-4 and 61000-6-2.
2.4.1 Radio considerations:
Spot uses a Wi-Fi radio that has been approved to the Radio Equipment Directive (RED).
In addition, Spot has been evaluated in accordance with the appropriate RED standards
for radio devices.
2.4.2 Laser
The Spot robot contains five stereo camera systems that contain a Class I laser
projection system.

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This product is classified as a Class 1 Laser Product under
the EN/IEC 60825-1, Edition 2 (2007) and Edition 3 (2014).
Do not tamper with or make adjustments to any of
the laser components in the Spot robot. Doing so
may result in hazardous radiation exposure. Use of
controls or adjustments or performance of procedures
other than those specified herein may also result in
hazardous radiation exposure.
2.5 Noise
The airborne noise generated by Spot is determined by the environmentSpot is
operating in.
The noise of Spot walking across a padded carpetfloor will be much less than the
noise from Spot walkingup metal stairs. Before putting Spot into regular use, Users
shouldwork with their EH&S staff to determine if additional PPE is required due to the
noisegenerated bySpot in its workingenvironment.

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3 Transport, handling, and storage
3.1 Transport
Spot is transported in two customized cases designed exclusively for the robot and its
associated components.
Do not discard the cases after removing Spot. The
cases are designed for transporting the robot and
its accessories, and for returning them to Boston
Dynamics for service.
Shipping case for the robot
Length: 927 mm
Width: 546 mm
Height: 464 mm
Empty container: 47.6 kg
Combined weight: 80.1 kg
Shipping case for battery pack/power supply
Length: 559 mm
Width: 432 mm
Height: 267 mm
Empty container: 9.2 kg
Combined weight (one battery): 18.1 kg
Combined weight (two batteries): 22.7 kg

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3.2 Safe handling
Operational and safety instructions about handling Spot are collected in a series of
training videos.
Details and illustrated procedures are collected in a series of
training videos on the Boston Dynamics Support Center:
• Spot Safety: Safe Handling
Pay careful attention to the following items:
• Safe conditions for handling (check that power is off)
• Pinch points (locate them and learn how to appropriately lift
the robot)
• Handles (locate them and learn how to lift the robot)
• Proper two-person lift (illustrated procedure)
For details about Spot Dock safe handling, refer to Spot Dock Information for Use in the
Boston Dynamics Support Center.
3.2.1 Safe conditions for handling Spot
There are two safe handling conditions for the robot:
• Power OFF
• Power ON, motor lockout
Refer to 5.6 Stopping the robot for information about safely powering down the robot.
Lifting the robot without powering off the robot will
result in unexpected motion, as the robot will attempt
to control its balance. Only handle Spot when the
motors are locked out or the robot is powered off.

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3.2.2 Pinch points
Spot’s joints can pinch fingers and other body parts and entangle loose clothing, long
hair, and jewelry.
Pinch point risk zones
3.2.3 Handles
Spot has a handle at each hip joint. Use these to lift, carry, and roll the robot.
Always keep hands away from knee joints. Use caution
when lowering Spot or closing the legs.
Always keep hands away from hip joints, except when
grabbing handles. Always make a fist when gripping
handles to keep your fingers away from pinch points.
When using the handles, hands and fingers may be
pinched.
Always make a fist with each hand. Do not extend the
fingers to avoid potential pinch hazard.