Boston Acoustics SPOT User manual

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SPOT
USER GUIDE
RELEASE 2.0 VERSION A

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CONTENTS
INTRODUCING SPOT 1
HELLO 1
SYSTEM CONTENTS 2
BODY 3
BUTTONS & PORTS 5
POWER & MOTOR LIGHTS 6
STATUS LIGHTS 7
CONTROLLER 8
SAFETY 9
TRAINING 9
SAFETY DISTANCE 9
SAFETY IN HANDLING 12
BATTERY SAFETY 13
BYSTANDER SAFETY 13
HANDLING SPOT 14
MOTOR LOCKOUT 14
HANDLES 14
LIFTING SPOT 15
PLACING SPOT IN CASE 15
ROLLING SPOT 16
SETUP 18
BATTERY POWER 18

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OPERATION 21
TURNING ON SPOT 23
CONNECTING THE CONTROLLER 23
STOPPING THE ROBOT 24
TURNING ON MOTORS 24
SELF-RIGHT 25
SIT & STAND 25
WALKING SPOT 29
TUNABLE PERCEPTION 31
TUNABLE PLATFORM SETTINGS 32
NAVIGATING STAIRS 33
TELEOPERATION 34
AUTOWALK 35
MISSIONS 35
NAVIGATION 35
FIDUCIALS 35
WAYPOINTS 36
ACTIONS 36
AUTOWALK SETUP 37
PLACING FIDUCIALS 37
RECORDING A MISSION 37
REPLAYING A MISSION 39
TROUBLESHOOTING 40
CONTENTS

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SERVICE & REPAIR 42
TURNING SPOT OFF 42
SHIPPING 42
TROUBLESHOOTING 43
CONTACT SUPPORT 43
COMPLIANCE 44
SPOT SYSTEM 44
SPOT ROBOT 45
SPOT BATTERY 46
SPOT CHARGER 46
SPECIFICATIONS 47
CONTENTS
LEGEND
WARNING: Indicates a hazardous situation
which, if not avoided, could result in death
or serious injury. Such situation could also
result in significant damage to the robot or
property.
NOTE: Addresses practices not related to
safety, including tips to maximize perfor-
mance and prevent damage to the robot

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We’ve built the world’s most advanced four-legged robot. Spot is small
enough to navigate human environments, but nimble enough to traverse
nearly any terrain. Spot dynamically balances, but is easy to control. As
Spot takes its first steps out of the lab, it represents a giant leap toward
a future of general-purpose robotics.
Robotics is a team sport. Boston Dynamics has built the platform – and
it’s up to you to put it to work. With this user guide, a growing list of
payloads, evolving software capabilities, and accessible development
kits, you have the tools to leverage this technology to its fullest.
It’s time to change the world’s idea of what robots can do.
Let’s get started.
INTRODUCING SPOT
HELLO

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• Spot Robot
• Battery (x2)
• Charger
• Controller
INTRODUCING SPOT
SYSTEM
CONTENTS

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INTRODUCING SPOT
BODY
THREE-QUARTER VIEW
FRONT
TOP
BOTTOM
BACK
BODY
LOWER
LEG
FOOT
UPPER
LEG
KNEE
HIP

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INTRODUCING SPOT
THREE-QUARTER VIEW
STATUS LIGHT
(x2)
PAYLOAD PORT
(x2)
STEREO CAMERA
(x5)
MOUNTING RAIL
(x2)
HANDLE
(x4)

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INTRODUCING SPOT
BACK VIEW
BOTTOM VIEW
BUTTONS &
PORTS
STATE OF CHARGE (SOC) BUTTON
Shows the battery charge level;
located on the battery
POWER
BUTTON
MOTOR
LOCKOUT
BUTTON
ETHERNET
PORT & CAP
POWER
PORT & COVER

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INTRODUCING SPOT
POWER AND
MOTOR LIGHTS
NO LIGHTS:
Robot and motors o
(lockout engaged)
BLUE LIGHT:
Computers on,
motors o
(lockout engaged)
SLOWLY FLASHING
RED LIGHT:
Motors available
but not powered
QUICKLY FLASHING
RED LIGHT:
Motors turning on
SOLID RED LIGHT:
Motors on - stay at
least 2m away
POWER & MOTOR
LIGHTS
BACK VIEW
POWER
BUTTON
LOCKOUT
BUTTON
ROBOT
STATUS

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INTRODUCING SPOT
POWER
MOTORS
ERRORS
Moving rainbow:
Powered on, ready to connect
Solid rainbow:
Plugged in, no battery
Rainbow dots:
Charging, dots show % charge
Solid green:
Motors on
Blinking orange:
Serious error or perception fault
has occurred; operation degraded
Solid blue:
Lockout button engaged;
Spot is safe to handle
Slow blink green:
Spot connected; motors may turn on
Fast blink green:
Motors turning on!
STATUS LIGHTS Yellow:
System booting up

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CONTROLLER
Spot is controlled by an android app running on
a tablet. The Spot System includes an Android
gaming tablet with physical buttons for easy
robot control.
OPERATING MODES
Spot’s controller has two operating modes.
Change between the modes in the settings menu.
Standard Mode: Provides easy-to-use control for
most situations.
Demo Mode: Enables demonstration gaits and
adds additional button controls to make it easy
to switch modes.
INTRODUCING SPOT
D-PAD
(Directional
buttons)
Controls
camera view
MODE
BUTTONS
Shortcuts
to control
Spot’s
motion
STOP
Cuts motor power
ACTION MENU
Controls how Spot moves
STATUS BAR
LEFT JOYSTICK
Moves Spot manually
RIGHT JOYSTICK
Moves Spot manually
SETTINGS
MENU

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TRAINING
Proper training: Do not use Spot without reading
this user guide and understanding safe operation
of the 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 user guide to lessen the risk of
serious injury, death, or robot and other property
damage.
It is the operator’s responsibility to ensure that
bystanders are trained in safe behavior around
Spot, and that the operation of Spot does not
put anyone at risk.
SAFETY
SAFETY DISTANCE
Spot is not suitable for tasks that require
operation in close proximity to people. People
must stay a safe distance (at least 2m) from
Spot during operation to avoid injury. Injuries
may be caused by collisions, Spot falling or tipping
onto people, or contact with Spot’s pinch points.
Spot is suitable for areas where access is limited
to trained personnel. Keep untrained people
away from Spot during operation to avoid injury.
Spot may sometimes move unpredictably or fall.
Only use Spot in areas where a fall or collision
will not result in an unacceptable risk.

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SAFETY
COLLISIONS
Spot can collide with people or objects, even
with its obstacle detection system enabled.
• People around Spot should keep a safe
distance of at least 2m from the robot while
it is operating on level ground. Do not stand
between Spot and a wall or other fixed object
if this could violate the 2m safety perimeter.
• Do not operate Spot within 2m of delicate
equipment or other property that may be
damaged by the robot. Operators and anyone
nearby should assume that Spot may move
unexpectedly at any time.
FALLS
Spot may sometimes fall. Falls can damage
Spot or the surrounding environment and injure
operators and bystanders. Keep a safe distance
of at least 2m from Spot while it is operating.
Never stand below Spot on stairways, elevated
platforms, or inclines. For example, if Spot is at
the top of a stairway, stay at least 2m away from
the stairway bottom or any open areas on the
side of the stairway and remain vigilant at all
times to avoid a falling Spot. If Spot falls from an
elevated position, it can cause serious injury or
death.
2m

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SAFETY
If Spot loses its wireless connection to the controller, it will sit after 3 seconds,
and the motors will shut o after 8 seconds. If this occurs on stairs, slope, or
other uneven surface, Spot may slide or fall upon attempting to sit.
The following conditions may cause Spot to fall:
Spot has diculty walking, and may fall, on slippery surfaces. This includes
surfaces made slippery by sand, dust, and liquids, for example.
Spot cannot detect when its legs are entangled in cords, which may cause it
to trip and fall. The entagled cord and anything connected to it may also be
damaged.
Spot may not automatically avoid unstable objects that are fully or partially
less than 30 cm above the ground, such as human feet and backpacks, and
may fall upon stepping on such objects.
Spot cannot detect cli edges and may walk o cli edges that are
unblocked. Block cli edges with secure guardrails or safety netting. Never
work below an elevated Spot.
These can confuse Spot’s obstacle detection system.
Spot can become unstable on moving surfaces, such as elevators, escalators,
moving walkways and ramps, vehicles, or boats. Put robot in lockout mode
when transporting on moving platform.
Signal loss
Slippery surfaces
Cords
Unstable objects
shorter than
30 cm
Holes,
elevated grounds,
or clis
Transparent,
mirrored, or very
bright obstacles
Moving surfaces
If Spot loses balance on the stairs or an incline, it may slip and fall.
Stairs or inclines

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PINCH POINTS
Spot’s joints can pinch fingers and other body
parts and entangle loose clothing, long hair, and
jewelry.
Only handle Spot when the motors are locked
out (see page 14) or robot power is o.
SAFETY IN
HANDLING
Fingers may break or get amputated if caught
in joints while Spot’s motors are active. Stay at
least 2m away when Spot is powered on (except
to press the lockout or power buttons).
1. Never touch Spot when motors are active.
Stay at least 2m away at all times.
2. Before handling Spot, engage lockout to
ensure motors can’t turn on.
ACTIVE MOTORS
SAFETY
HIP JOINT
Always keep hands away from hip joint,
except when grabbing handles. Always
make a fist when gripping handles to keep
your fingers away from pinch points.
KNEE JOINT
Always keep hands away
from knee joint. Use cau-
tion when lowering Spot
or closing the leg.

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BYSTANDER SAFETY
The operator is responsible for ensuring that all
people who may come into close proximity of
Spot are aware of robot hazards and receive Spot
safety training.
• Keep at least 2m away from Spot and avoid
the robot’s path.
• It can be dicult to predict which way Spot
will move next.
• Anyone passing Spot during autonomous
patrol should avoid its path and maintain a 2m
distance between Spot at all times.
• Do not stand between Spot and wall if this
could violate the 2m or greater acceptable
safety parameter.
• Never stand downhill or otherwise
below Spot.
SAFETY
BATTERY SAFETY
Spot is powered by a removable lithium ion battery
pack. To reduce the risk of fire or electric shock:
• Only use the Spot battery, provided by Boston
Dynamics.
• Only charge battery with provided Boston
Dynamics charger.
• Don’t short-circuit, burn, disassemble,
submerge, puncture, crush, drop, or
damage battery.
• If battery fire starts, don’t try to put it
out. Evacuate to a safe area and call fire
department. Battery fires create toxic fumes
and cannot be put out with conventional fire
extinguishers or water.
• Store at -30 to 25C (-22 to 77F). Charge at 0
to 40C (32 to 104F). Operate at -20 to 45C
(-4 to 113F).
• Spot operators should develop a battery
storage and charging safety policy consistent
with industry standards and local regulations.
• Remove battery from robot during
transportation or storage.
2m

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RED LIGHT OFF:
Motor lockout
engaged.
RED LIGHT ON:
Motor not locked out;
see all states for this
button in Lights
section on page 6.
It will be necessary to handle Spot when packing
or unpacking for transport, replacing the battery,
or righting Spot when it falls and is unable to
self-right.
HANDLES
Spot has a handle at each hip joint. Use these to
lift, carry, and roll the robot. When using the han-
dles, always make a fist with each hand.
HANDLING SPOT
CAUTION: Never handle Spot unless motor
lockout is engaged.
• Don’t attempt to lift or move Spot while
it is standing.
• Only move joints with motors in lockout
mode or while Spot is powered o.
• Be careful to avoid pinch points
CAUTION: To avoid pinch points, never
carry Spot with fingers extended.
MOTOR LOCKOUT
The lockout button mechanically disconnects
the motor power and can only be activated by
manually pressing the lockout button. Software
cannot turn on the motors while the lockout is
engaged.
To handle Spot safely, the robot must be placed
in lockout mode. To enable lockout:
1. Turn motor power o with the controller.
2. Push the lockout button.
3. Confirm red light is o.