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
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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
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