Boston Acoustics SPOT User manual

Spot® Instructions for Use
Safety and Operations Manual
Version 2.0 Original Instructions
September 2023

Copyright © 2023 Boston Dynamics, Inc. All rights reserved.
Boston Dynamics, Inc.
200 Smith St.
Waltham, MA 02451
USA
[phone]
Boston Dynamics Support Center homepage: https://support.bostondynamics.com
Contact Support: https://support.bostondynamics.com/s/contactsupport

Table of Contents
1. Introduction ................................................................................................................... 6
1.1. About this document ............................................................................................ 6
1.2. Manufacturer information .................................................................................... 6
1.3. Key terminology .................................................................................................... 7
1.3.1. Legend of hazard labels .............................................................................. 8
1.3.2. Spot anatomy ............................................................................................. 9
1.4. Spot specications ............................................................................................... 10
2. Product safety overview ............................................................................................ 12
2.1. General principles ................................................................................................ 12
2.2. Intended use ....................................................................................................... 12
2.3. Modes of operation ............................................................................................. 13
2.4. Locomotion primitives: gaits and specialized modes ....................................... 14
2.4.1. Walk (“trot”) ............................................................................................... 14
2.4.2. Crawl ......................................................................................................... 14
2.4.3. Quick-step slip prevention ....................................................................... 14
2.4.4. Stair mode ................................................................................................ 14
2.5. Stopping functions .............................................................................................. 15
2.5.1. Operational stop ........................................................................................ 15
2.5.2. Safety-related stop .................................................................................... 15
2.5.2.1. Stopping distance ........................................................................... 17
2.5.3. Emergency stop ....................................................................................... 17
2.6. Velocity limitation ............................................................................................... 17
2.7. Obstacle avoidance ............................................................................................. 18
2.8. Restrictions on the environment ....................................................................... 19
2.8.1. Environmental conditions ........................................................................ 19
2.8.2. Navigational conditions ........................................................................... 21
2.9. Risk assessment .................................................................................................. 21
2.9.1. Before starting .......................................................................................... 22
2.9.2. Electrical hazards ..................................................................................... 22
2.9.2.1. Charging equipment ..................................................................... 23
2.9.3. Hazards due to non-ionizing radiation ................................................... 23
2.9.3.1. EM radiation considerations .......................................................... 24
2.9.3.2. Radio Frequencies (RF) ................................................................. 24
2.9.3.3. Laser .............................................................................................. 24
2.9.4. Noise ........................................................................................................ 25
2.9.5. Fire, explosion and hazardous materials ................................................ 25
2.9.6. Unintended contact and other hazards related to locomotion ............ 25
2.9.6.1. Accidental impacts during normal locomotion on at, non-
elevated grounds ...................................................................................... 26
2.9.6.2. Loss of stability and falls ............................................................... 29
2.9.6.3. Hazards associated with stopping or other powerless motion .. 30
2.9.7. Pinch points during motion ..................................................................... 31
2.10. General warnings .............................................................................................. 32
3. Transport, handling, and storage .............................................................................. 33
3.1. Transport ............................................................................................................. 33
3.1.1. Shipping case specications .................................................................... 33
© 2023 Boston Dynamics, Inc. 3

3.2. Safe handling ..................................................................................................... 33
3.2.1. Pinch points .............................................................................................. 34
3.2.2. Handles .................................................................................................... 34
3.2.3. Lifting Spot ............................................................................................... 35
3.2.4. Personal Protective Equipment (PPE) ................................................... 36
3.3. Storage ................................................................................................................ 36
3.3.1. Battery storage ......................................................................................... 36
4. Setup ............................................................................................................................ 38
4.1. Before starting .................................................................................................... 38
4.2. Integrating attachments ................................................................................... 39
4.2.1. Analysis of attachments .......................................................................... 39
4.2.2. Attachment mount points and dimensions .......................................... 42
4.2.3. Mounting attachments ........................................................................... 45
4.2.4. Conguring attachments ....................................................................... 46
4.3. Battery setup and charging .............................................................................. 46
4.3.1. Inserting and removing the battery ........................................................ 47
4.3.2. Charging the battery ............................................................................... 48
4.4. Spot Dock setup ................................................................................................. 51
4.5. Spot system settings ........................................................................................... 51
4.5.1. Log in to the Admin Console ................................................................... 52
4.6. Network conguration ...................................................................................... 53
4.6.1. Default network conguration ................................................................ 53
4.6.2. Changing the network conguration .................................................... 54
5. Use of the machine ..................................................................................................... 55
5.1. Controls and interfaces on Spot ......................................................................... 55
5.1.1. Power and motor status lights ................................................................. 55
5.1.2. Robot status lights ................................................................................... 56
5.2. Remote controllers ............................................................................................. 58
5.2.1. Spot tablet controller ............................................................................... 58
5.2.2. Connecting the tablet controller to Spot ............................................... 59
5.2.3. Enabling AutoReturn to recover from loss of connection to the
controller ........................................................................................................... 60
5.3. Starting Spot ...................................................................................................... 60
5.3.1. Power on Spot’s computers ...................................................................... 61
5.3.2. Reset the motor lockout ......................................................................... 62
5.3.3. Start Spot’s motors .................................................................................. 62
5.4. Stopping Spot .................................................................................................... 63
5.4.1. Manual stop using the tablet controller ................................................. 63
5.4.2. Restarting after a stop using the tablet controller ................................ 65
5.5. Changing Spot’s mode of operation ................................................................. 66
5.5.1. Switching to automatic mode ................................................................. 66
5.5.2. Switching to manual mode .................................................................... 67
5.6. Docking and undocking Spot ........................................................................... 67
5.6.1. Docking and undocking in manual mode ............................................. 69
5.7. Driving with remote control .............................................................................. 70
5.7.1. Tablet controls (Drive mode) ................................................................... 70
5.7.2. Tablet controls (Autowalk mode) ............................................................ 72
5.7.3. Recording an Autowalk mission ............................................................. 73
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5.8. Automatic operation .......................................................................................... 74
5.8.1. Replaying an Autowalk mission .............................................................. 74
5.8.2. Scheduling Autowalk mission replays .................................................... 75
5.8.3. Conguring Autowalk mission replay options ....................................... 76
5.8.4. Autowalk replay supervision ................................................................... 79
5.8.5. Mission prompts and Operator intervention ......................................... 80
5.9. Navigating stairs ................................................................................................. 81
5.10. Recovering from a fall ....................................................................................... 83
5.11. Turning off Spot ................................................................................................. 84
5.12. Recommended practices during Spot operation ........................................... 84
6. Maintenance ............................................................................................................... 86
6.1. Service and repair ............................................................................................... 86
6.2. Cleaning and maintaining Spot ........................................................................ 86
6.2.1. Exterior cleaning ...................................................................................... 86
6.2.2. Preventive maintenance ......................................................................... 87
6.3. Recalibration with SpotCheck ........................................................................... 87
7. Declarations and marking ........................................................................................ 88
7.1. EU Declaration of Incorporation ......................................................................... 88
7.2. Labels .................................................................................................................. 89
8. Appendix A: Supplemental information .................................................................. 91
© 2023 Boston Dynamics, Inc. 5

1. Introduction
1.1. About this document
This document contains critical safety information for the Spot robot.
Responsible use of Spot is crucial to prevent dangerous conditions for those in close proximity to Spot.
Read, understand, and comply with this document before initial use of Spot to decrease the risk of
injuries or damage to yourself, Spot, or other property.
Spot is a partly completed machinery (as dened in Directive 2006/42/EC Art. 2(g), valid in the E.U.)
and each integration of Spot in a nal application requires a dedicated risk assessment. See 2.1:
General principles and complete a risk assessment and evaluation of the intended application of Spot
before powering it up and commissioning it into a solution. The commissioning party should compile
additional Information for Use specic to the nal application, including limitations and intended use.
Keep a copy of this document in a readily accessible location. Complete user and developer
documentation on the Spot robot platform, including a digital version of this document, is available
online in the Boston Dynamics Support Center (see 8: Appendix A: Supplemental information).
This document is valid for the following designation of Spot:
Hardware 04-00143531-001 (model number)
Software v3.3 and above
1.2. Manufacturer information
Spot is manufactured by:
Boston Dynamics, Inc.
200 Smith St.
Waltham, MA 02451
USA
[phone]
Introduction
© 2023 Boston Dynamics, Inc. 6

1.3. Key terminology
Term Denition
Spot
A legged robot capable of mobility on a variety of terrains. Spot uses multiple
sensors and three motors in each leg to navigate in indoor and outdoor
environments, maintain balance and attain postures. Spot is capable of carrying
and powering attachments.
Operator
Any person trained and authorized to manually operate, repair, handle, or supervise
the automatic operation of Spot. This denition corresponds to the terms
“Qualied person” and “Authorized person” as dened in ISO/TR 22053:2021,
Clause 3.4.
Bystander
Any person who can be reasonably expected to be near Spot, but is not an
Operator. This denition corresponds to the term “Affected person” as dened in
ANSI B11.0-2020, Clause 3.4.
Task An activity performed by a person, including manual operation of Spot.
Operation An activity performed by Spot, whether as a result of manual or automatic
operation.
Mission
A set of instructions and map data that allows Spot to navigate automatically
along a known route while performing data capture actions and other operations.
The features that allow Spot to record and replay missions are collectively called
“Autowalk”.
Action
A predened operation that can be performed during a mission. The Spot software
includes several preset Actions, such as capturing images from robot cameras and
docking with a Spot Dock. Custom Actions can be created using Spot’s software
development tools.
Attachment Any device or piece of hardware that is afxed to Spot to enhance or expand Spot’s
functionality. Attachments for Spot are commonly called “payloads”.
Fiducials
Specially designed images similar to QR codes
that Spot uses to match its internal map to the
world around it. Fiducials are required at the
beginning of every mission.
Spot recognizes AprilTag ducials that meet the
following requirements:
•AprilTags in the Tag36h11 set.
•The default Image size: 146 mm square.
•Printed on white non-glossy U.S. letter-size
sheets (preferably rigid).
Introduction
© 2023 Boston Dynamics, Inc. 7

1.3.1. Legend of hazard labels
DANGER
Indicates a hazardous situation which, if not avoided, will result in death or serious
injury.
WARNING
Indicates a hazardous situation which, if not avoided, could result in death or
serious injury.
CAUTION
Indicates a hazardous situation which, if not avoided, could result in minor or
moderate injury.
NOTICE
Indicates information considered important, but not hazard related.
REQUIRED READING
Indicates a mandatory reading of Instructions for Use or other safety-related
documentation.
Introduction
© 2023 Boston Dynamics, Inc. 8

1.3.2. Spot anatomy
Spot in the "stand" pose.
Spot in the "sit" pose.
Introduction
© 2023 Boston Dynamics, Inc. 9

1.4. Spot specications
Category Specication Value
Dimensions
Length 1100 mm
Width 500 mm
Default height (walking) 610 mm
Height (sitting) 191 mm
Max height (walking) 700 mm
Min height (walking) 520 mm
Net mass/weight (with
Battery) 32.7 kg
Degrees of freedom 12
Max speed11.6 m/s
Power
Battery capacity 564 Wh
Max battery voltage 58.8 V
Typical runtime 90 minutes
Standby time (Spot
powered, motors off)180 minutes
Spot Power Supply
power output 400 W
Max charge current 7 A
Time to charge (Spot
Dock ambient temp.
25°C)
Approximately 50
minutes for 80% charge
Approximately 2 hours
for 100% charge
Time to charge (Spot
Dock ambient temp.
35°C)
Approximately 2.5
hours for 80% charge
Approximately 3.5
hours for 100% charge
Time to charge (Spot
Power Supply) Approximately 1 hour
Battery mass/weight 5.2 kg
Introduction
© 2023 Boston Dynamics, Inc. 10

Category Specication Value
Cameras
Camera functions Black-and-white or color sheye, range (depth),
infrared
Number of optical
cameras(for image
capture, ducial
recognition, displaying
surroundings )
5 (front-left, front-right, left, right, rear)
Overall optical eld of
view (FOV) 360 degrees
Number of depth
cameras (for robot
perception, obstacle
avoidance)
5 stereo pairs (front-left, front-right, left, right, rear)
Overall depth camera
eld of view (FOV) Approximately 90 degrees in each direction2
Depth camera range ~2 m
Attachments
Max weight 14 kg
Max power per port 150 W
Payload ports 2 (mirrored)
T-slot rail bolt size M5 x 1.0
Connectivity
Enterprise WiFi
2.4Ghz and 5Ghz
802.11b/g/n and 802.11ac
Ethernet 1000Base-T
1Max speed is determined against nominal environmental/navigational conditions. See 2.8: Restrictions on the environment.
2There are gaps near the hips where the depth camera eld of view does not overlap. See 2.7: Obstacle avoidance.
Introduction
© 2023 Boston Dynamics, Inc. 11

2. Product safety overview
2.1. General principles
Spot is a legged robot capable of mobility on a variety of terrains. Spot uses multiple sensors and
three motors in each leg to navigate in indoor and outdoor environments, maintain balance and attain
postures. Spot is capable of carrying and powering attachments.
CAUTION
Spot’s behavior while in motion is dynamic and can be subject to local conditions
that may generate unexpected motion.
2.2. Intended use
Spot is intended for professional use in either industrial or restricted or controlled environments. Spot
is typically commissioned in a nal solution in dedicated areas where access is subject to restrictions
specied with the solution.
The Instructions for Use for the nal solution (not this document) shall indicate those conditions.
Spot is not intended for uses involving concurrent human-robot activities sharing the same space
or the same equipment to complete an assigned task/mission (sometimes known as “collaborative
applications”). People can be occasionally present in the same space as Spot for purposes unrelated to
Spot operations (see “Bystander” in 1.3: Key terminology).
Spot is a general-purpose robot that provides advanced mobility. Specic uses are built on top of
mobility by custom-dened applications (including interactive or collaborative ones).
You must complete a risk assessment of such applications and any aspect that may be different from
the generic intended use described above.
NOTICE
Spot can carry attachments that narrow the integration of Spot into a specic
application or intended use. An attachment (or Spot behavior determined by
attachments) could result in additional hazards or different risks with respect to
the generic use of Spot.
Risk assessment for applications should consider reasonably foreseeable misuses. Explicitly prohibited
uses include, but are not limited to:
•Use without performing a risk assessment.
•Underwater and airborne applications.
•Military use.
Product safety overview
© 2023 Boston Dynamics, Inc. 12

•Any use as – or enabling the use of – a Certied Medical Device. Access and operation in
healthcare facilities subject to limitations.
•Use in personal care, medical treatment or life-critical applications.
•Use in home environments.
•Transportation of persons or animals.
•Transportation of hazardous materials or substances.
•Intentionally harming any person with Spot or by using attachments mounted on Spot.
•Use for any illegal purpose.
•Use as a climbing aid.
•Interfering with Spot’s sensors so as to impair their functioning, intentionally altering the
environmental conditions so as to impair the functioning of Spot’s sensors, or intentionally altering
the environmental conditions so as to impair Spot’s locomotion.
DANGER
Any misuse of Spot can potentially cause severe personal injuries or result in
signicant material hazards.
The risk assessment shall consider the entire lifecycle of the Spot application, including but not limited
to:
•Setting up and commissioning, with particular attention to training activities.
•Regular use, with particular attention to navigation operations.
•Maintenance and troubleshooting.
2.3. Modes of operation
Spot can be operated in various modes.
•Manual: Direct operation of Spot by displaying images from Spot’s cameras on a remote controller.
See 5.2: Remote controllers and 5.7: Driving with remote control.
•Automatic: Autowalk missions can be recorded and replayed by Spot. During replay Spot operates
automatically. See 5.8: Automatic operation.
CAUTION
Spot should always be remotely controlled by properly trained Operators, or execute
automatic operations congured or programmed by a trained professional.
Failure to properly verify programmed applications may result in unexpected hazard
during operations.
The frequency and duration of Spot operations in either manual or automatic modes varies greatly
depending on the nal application Spot is used for.
Product safety overview
© 2023 Boston Dynamics, Inc. 13

For example, applications including routine inspections of industrial assets can be congured along
a route in manual mode and then be repeated and completed largely in automatic mode. While
operating in automatic mode, Spot is expected to encounter bystanders not involved in its operations
for very brief moments along routes. While operating in manual mode, interactions with bystanders are
expected to be longer, although limited in time, and may include people attending to their own tasks in
the operating environment.
A complete analysis (see 2.9: Risk assessment) of foreseeable exposure to Spot must be done before
commissioning any nal application.
2.4. Locomotion primitives: gaits and specialized
modes
2.4.1. Walk (“trot”)
Spot’s default gait. Spot moves at variable speed on alternating pairs of legs (front-right/hind-left,
front-left/hind-right).
2.4.2. Crawl
Spot moves slower than trot on at terrain and keeps three feet on the ground at all times.
2.4.3. Quick-step slip prevention
In the Walk gait, Spot may take extremely rapid steps while recovering from a slip. This greatly reduces
the chance of falls on ice, wet or oily oors, and other slippery surfaces.
2.4.4. Stair mode
During both manual and automatic operations, when Spot detects a stairway in its path, it will
automatically adjust its gait to a moderate speed and pitch its body to adjust to the slope of the
stairway. Spot will automatically align itself with the center of the stairway to avoid colliding with walls
or railings.
Stair locomotion involves sophisticated control and use of sensors. For the best and most reliable
performance in these conditions, keep Spot’s software fully updated.
Failures on stairs cannot be completely eliminated. When using Spot in manual mode, the best results
are obtained when operators do not interfere with the automatic stair behavior by suspending, altering,
or making rapid changes in manual commands. Actively stopping Spot on stairs has negative effects
on stability (see 2.9.6.3: Hazards associated with stopping or other powerless motion).
For more information about driving Spot on stairs, see 5.9: Navigating stairs.
Product safety overview
© 2023 Boston Dynamics, Inc. 14

2.5. Stopping functions
2.5.1. Operational stop
Spot monitors its sensors and can automatically pause movement or remove power from motors in
certain situations:
•Signal loss: After 3 seconds without controller communication, Spot will sit. After 8 seconds
without communication, Spot will turn off its motors. See 5.2.3: Enabling AutoReturn to recover
from loss of connection to the controller and 5.8.4: Autowalk replay supervision.
•Fall detection: When Spot detects a fall, motors are immediately de-energized. Legs will not actively
ail or remain stiff under contact.
•Low battery: When Spot’s batteries reach critically low levels, Spot will sit and turn off its motors.
•Controller input: Commands to stop or de-energize Spot can be sent from a robot control device.
See 5.2: Remote controllers and 5.4: Stopping Spot.
WARNING
If Spot is on stairs when an operational stop would occur, it will attempt to exit
the staircase before performing the operational stop. This may result in automatic
locomotion up or down the staircase, overriding other locomotion commands.
Do not stand on stairs, below open rails, or within 2 meters of the bottom of a
staircase where Spot is active.
NOTICE
Spot can detect falls that unexpectedly occur. De-energization of legs during falls
minimizes damage from the fall and prevents new hazards or bigger risks, such as
further stumbling. This behavior is called “smart freeze.”
2.5.2. Safety-related stop
Spot can be stopped by interfacing an external safe input signal to the payload port.
The stopping function will result in a de-energization of all motors (Stop Cat. 0 EN IEC 60204-1).
WARNING
When motors are de-energized, Spot will lose its ability to stand and balance. On at
ground, Spot will lower its body. On inclined surfaces or stairs, Spot may tip over.
The maximum response time for the stopping function is 200 ms.
Safe inputs for activating and triggering the stopping function are located on the payload ports as
follows:
Product safety overview
© 2023 Boston Dynamics, Inc. 15

Item Description
Safe input location
(See gure below)
I1 = pin 19
Interface
Use only one port, either front or rear. See example in gure below.
Spot will not work without a cap or a properly congured attachment
connected to each port.
When a cap is used, the stopping function is disabled.
Safe input default
connection
6-19 pair normally closed (NC).
Type of stop Stop Category 0 (IEC 60204-1) when contact on I1 is opened.
Stopping safety
function
Implemented in accordance with ISO 13849-1:2016, of Category 1 and
performance level c.
The PFHD is 1.1E-6/hr.
Reset 6-19 pair is closed.
Restart Enable power following commands on the manual controller or issued
from programs.
Environment The safety-related part of the control system operates within the same
environment limits established for Spot.
Payload port external signal interface for protective stop.
Product safety overview
© 2023 Boston Dynamics, Inc. 16

WARNING
Use safety-related inputs only for connection to safeguards or emergency stop
devices. Do not interface with non safety-related signals.
2.5.2.1. Stopping distance
On at ground, a safety-related stop will result in a maximum stopping distance of 1 meter. On uneven
or sloped surfaces, the stopping distance could be augmented by Spot’s motion under gravity and will
depend on factors such as the slope or unevenness of the walking surface. For more information, see
2.9.6.3: Hazards associated with stopping or other powerless motion.
2.5.3. Emergency stop
Spot can be optionally tted with any Emergency Stop device that complies with ISO 13850 to
implement an Emergency Stop function, using the built-in 2.5.2: Safety-related stop.
The Emergency Stop input device must meet the requirements of the safe input interface on the
payload port.
The Emergency Stop function is NOT a primary protective measure in any situation, and is manually
activated. It should be used only when an immediate emergency cannot otherwise be resolved, for
instance in case of accidental entrapment or insufcient clearances.
WARNING
The Emergency Stop function must be used only when you have full visibility of
Spot and its surroundings. A manually activated Emergency Stop will override any
active control, and therefore could determine additional hazards if it causes a
forced loss of stability (see also 2.9.6.3: Hazards associated with stopping or other
powerless motion).
CAUTION
Always try to anticipate and escape entrapment conditions.
Do not activate the Emergency Stop function for routine interventions or as a
means for a normal stop.
Spot will not resume operations until a deliberate reset and restart procedure is initiated.
2.6. Velocity limitation
When operating Spot manually in the Walk gait, Spot’s maximum speed is adjustable up to 1.6 m/s. To
switch between the following maximum speed settings, see 5.7.1: Tablet controls (Drive mode).
Speed setting Velocity
Fast 1.6 m/s
Product safety overview
© 2023 Boston Dynamics, Inc. 17

Speed setting Velocity
Med (default) 0.9 m/s
Slow 0.5 m/s
2.7. Obstacle avoidance
Spot uses its perception system to automatically avoid collisions with obstacles. The perception
system consists of ve depth cameras: two at the front, one at the rear, and one on each side of
Spot.
NOTICE
Although the camera images displayed to an operator may show an overlapping
eld of view, the perception system has gaps, especially at the rear corners of Spot.
Approximation of gaps in the obstacle avoidance eld of view.
Obstacles are mapped and remembered even when Spot’s movement brings the obstacle into one of
the gaps. However, Spot may fail to detect:
•Moving obstacles.
Product safety overview
© 2023 Boston Dynamics, Inc. 18

•Obstacles that are hard to detect until Spot is very close. (For details on the limits of the perception
system, refer to 2.8.2: Navigational conditions.)
•Obstacles that remain in a gap in Spot’s eld of view during its entire approach path.
By default, Spot tries to keep a minimum distance of about 7.5 cm between itself and nearby obstacles.
You can set an additional cushion of up to 50 cm using the controls described in 5.7: Driving with
remote control. The obstacle avoidance cushion may prevent Spot from traversing doorways and other
conned spaces.
CAUTION
Spot may collide with people or objects, even with its obstacle detection system
enabled.
Operators and bystanders should assume that Spot may move unexpectedly at any
time.
2.8. Restrictions on the environment
Spot is designed for dynamic mobility in a variety of environments and terrains. The following tables
describe the nominal environmental conditions in which Spot is expected to work as intended. Spot is
assumed to be in like-new condition with no attachments or other modications.
The listed environmental constraints are treated as independent variables, but will intersect in real-
world conditions. For instance, assume Spot is operated on a sloped surface that is also covered in
debris. Even if the slope and the debris are each within nominal tolerances, Spot’s performance may
degrade in ways that would not happen if the same slope was uncluttered or if the debris was on at
ground.
A risk assessment must always identify the environmental conditions for a particular application of
Spot and estimate any risk change associated with operating in non-nominal conditions.
2.8.1. Environmental conditions
Environment Nominal conditions
Surface
•Minimum coefcient of friction: 0.4
•Debris and/or uneven surfaces: height variations up to 25 cm
•Avoid soft or pliable surfaces: minimum force 8 kN/m.
Space
•Minimum height of obstacles overhanging the walking surface: 70 cm
•Minimum doorway, gap, or corridor width (forward/reverse direction of
travel): 60 cm
•Minimum space to turn around (rotate in place): 122 cm x 122 cm
Slopes •Maximum pitch: +/- 30 degrees
Product safety overview
© 2023 Boston Dynamics, Inc. 19

Environment Nominal conditions
Elevated
Ground
•Maximum height of negative obstacles (step up or down): 35 cm
•Stable (unmoving) surfaces: less than 5 cm lateral motion
Stairways
•Minimum width: 64 cm
•Maximum pitch: +/- 45 degrees
•Maximum step height: 22 cm
•Barriers at least 50 cm high at the sides, with gaps no more than 30 cm
wide.
•Straight direction of travel (no curvature or turns except on at landings).
•Minimum landing size (90-degree turn): 112 cm x 112 cm
•Minimum landing size (180-degree turn): 97 cm x 226 cm
•Minimum landing size (no turn): 64 cm x 107 cm
•Free space in front of top or bottom of stairs: 112 cm x 112 cm
Lighting
•Dynamic range of ambient light: 68 dB
•Minimum ambient light for clear visuals from robot cameras: 50 lux
•High-contrast light that includes IR wavelengths (e.g. sunlight) may
interfere with obstacle detection.
Climate/
Ingress
•Ingress protection: IP54
•Ambient temperature range for operation: -20°C to 45°C
•Maximum non-condensing humidity: 99% relative humidity
When performing a risk assessment for your Spot application, consider that any deviation from the
nominal environmental conditions (Surface, Space, Slopes, Elevated Ground, Stairways) may increase
the occurrence of total or partial loss of stability (see 2.9.6: Unintended contact and other hazards
related to locomotion). Effects of instability may include, but are not limited to:
•Falls
•Erratic movements for regaining balance
•Inability to proceed with locomotion
Exceeding the Climate/Ingress conditions may have a signicant effect on the reliability of Spot
hardware:
•Extreme temperatures or submersion in water may cause failures in various Spot components
dedicated to perception and control (cameras, joints, CPU, etc.)
•Quick transitions (“thermal shock”) may cause condensation on internal components, leading over
time to corrosion.
•Intermittent, but frequent, exceeding of temperature or ingress limits may lead to latent damages
that are not immediately visible but can originate failures over time.
Product safety overview
© 2023 Boston Dynamics, Inc. 20