Boston Acoustics SPOT User manual

Spot® Instructions for Use
Safety and Operations Manual
Version 2.1.1 Original Instructions
January 2024

Copyright © 2024 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 ................................................................................................................... 7
1.1. About this document ............................................................................................ 7
1.2. Manufacturer information .................................................................................... 7
1.3. Key terminology .................................................................................................... 8
1.3.1. Legend of hazard labels .............................................................................. 9
1.3.2. Spot anatomy ............................................................................................ 10
1.4. Spot specications ................................................................................................ 11
2. Product safety overview ............................................................................................ 13
2.1. General principles ................................................................................................ 13
2.2. Intended use ....................................................................................................... 13
2.3. Modes of operation ............................................................................................. 14
2.4. Locomotion primitives: gaits and specialized modes ....................................... 15
2.4.1. Walk (“trot”) ............................................................................................... 15
2.4.2. Crawl ......................................................................................................... 15
2.4.3. Quick-step slip prevention ....................................................................... 15
2.4.4. Stair mode ................................................................................................ 15
2.5. Stopping functions .............................................................................................. 16
2.5.1. Operational stop ........................................................................................ 16
2.5.2. Safety-related stop .................................................................................... 16
2.5.2.1. Stopping distance ........................................................................... 18
2.5.3. Emergency stop (E-Stop) ......................................................................... 18
2.6. Velocity limitation ............................................................................................... 19
2.7. Obstacle avoidance ............................................................................................ 20
2.8. Auditory and visual (A/V) warning system ......................................................... 21
2.8.1. Indicators ................................................................................................... 21
2.8.2. Buzzer ...................................................................................................... 22
2.8.3. Speaker .................................................................................................... 22
2.8.4. Warning system light and sound patterns ............................................ 22
2.9. Restrictions on the environment ...................................................................... 25
2.9.1. Environmental conditions ....................................................................... 25
2.9.2. Navigational conditions .......................................................................... 27
2.10. Risk assessment ................................................................................................ 27
2.10.1. Before starting a risk assessment .......................................................... 28
2.10.2. Electrical hazards ................................................................................... 29
2.10.2.1. Charging equipment ................................................................... 29
2.10.3. Hazards due to non-ionizing radiation .................................................. 30
2.10.3.1. EM radiation considerations ........................................................ 30
2.10.3.2. Radio Frequencies (RF) ............................................................... 30
2.10.3.3. Laser ............................................................................................. 30
2.10.3.4. Bright lights .................................................................................. 31
2.10.4. Noise ........................................................................................................ 31
2.10.5. Fire, explosion and hazardous materials ............................................... 32
2.10.6. Unintended contacts and other hazards related to locomotion ......... 32
2.10.6.1. Accidental impacts during normal locomotion on at, non-
elevated grounds ...................................................................................... 33
2.10.6.2. Loss of stability and falls .............................................................. 35
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2.10.6.3. Hazards associated with stopping or other powerless
motion ...................................................................................................... 36
2.10.7. Pinch points during motion .................................................................. 37
2.11. General warnings ............................................................................................... 38
3. Transport, handling, and storage ............................................................................. 40
3.1. Transport ............................................................................................................. 40
3.1.1. Shipping case specications .................................................................... 40
3.2. Safe handling ..................................................................................................... 40
3.2.1. Pinch points ............................................................................................... 41
3.2.2. Handles ..................................................................................................... 41
3.2.3. Lifting Spot ............................................................................................... 42
3.2.4. Personal Protective Equipment (PPE) ................................................... 43
3.3. Storage ................................................................................................................ 43
3.3.1. Battery storage ......................................................................................... 43
4. Setup ........................................................................................................................... 45
4.1. Before setting up Spot ....................................................................................... 45
4.2. Integrate attachments ....................................................................................... 46
4.2.1. Analysis of attachments .......................................................................... 46
4.2.2. Attachment mount points and dimensions .......................................... 49
4.2.3. Mount attachments ................................................................................ 52
4.2.4. Congure attachments .......................................................................... 53
4.3. Battery setup and charging .............................................................................. 53
4.3.1. Insert the battery ..................................................................................... 54
4.3.2. Remove the battery ................................................................................ 55
4.3.3. Charge the battery .................................................................................. 55
4.4. Spot Dock setup ................................................................................................ 58
4.5. Spot system settings .......................................................................................... 58
4.5.1. Log in to the Admin Console ................................................................... 59
4.6. Network conguration ...................................................................................... 60
4.6.1. Default network conguration ................................................................ 60
4.6.2. Change Spot's network conguration .................................................... 61
4.7. Spot software updates ........................................................................................ 61
4.7.1. Update Spot robot software .................................................................... 62
4.7.2. Update Spot tablet controller software .................................................. 62
5. Use of the machine .................................................................................................... 64
5.1. Controls and interfaces on Spot ......................................................................... 64
5.1.1. Power and motor status lights ................................................................. 64
5.1.2. Robot status lights ................................................................................... 65
5.2. Remote controllers ............................................................................................. 67
5.2.1. Spot tablet controller ............................................................................... 67
5.2.2. Connect the tablet controller to Spot ..................................................... 68
5.2.3. Enable AutoReturn to recover from loss of connection to the
controller ........................................................................................................... 69
5.3. Start Spot ............................................................................................................ 70
5.3.1. Power on Spot’s computers ...................................................................... 71
5.3.2. Reset the motor lockout ......................................................................... 72
5.3.3. Start Spot’s motors .................................................................................. 72
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5.4. Stop Spot ............................................................................................................ 73
5.4.1. Manual stop using the tablet controller ................................................. 73
5.4.2. Restarting after a stop using the tablet controller ................................ 75
5.5. Change Spot’s mode of operation ..................................................................... 76
5.5.1. Switch to automatic mode ...................................................................... 76
5.5.2. Switch to manual mode .......................................................................... 77
5.6. A/V warning system settings ............................................................................. 77
5.7. Dock and undock Spot ...................................................................................... 79
5.7.1. Dock and undock in manual mode ........................................................ 80
5.7.2. Dock and undock during Autowalk missions ......................................... 81
5.8. Drive Spot with remote control ......................................................................... 82
5.8.1. Tablet controls (Menu bar) ....................................................................... 82
5.8.1.1. Main Menu ...................................................................................... 83
5.8.1.2. Modes dropdown .......................................................................... 85
5.8.1.3. Cameras dropdown ....................................................................... 86
5.8.1.4. Controls dropdown ....................................................................... 87
5.8.1.5. Motor status panel ......................................................................... 88
5.8.1.6. Perception status panel ................................................................ 89
5.8.1.7. Platform status panel ..................................................................... 91
5.8.1.8. Comms status panel ..................................................................... 92
5.8.1.9. Battery status panel ...................................................................... 93
5.8.2. Tablet controls (Drive mode) .................................................................. 94
5.8.3. Tablet controls (Autowalk mode) ........................................................... 95
5.8.4. Record an Autowalk mission .................................................................. 96
5.8.4.1. Add an Action during Autowalk recording .................................. 97
5.8.4.2. Undo during Autowalk recording ................................................ 97
5.8.5. Extend an Autowalk mission .................................................................. 99
5.8.5.1. Add an Action to a previously recorded Autowalk mission ......... 99
5.9. Automatic operation ........................................................................................ 100
5.9.1. Replay an Autowalk mission .................................................................. 100
5.9.2. Schedule Autowalk mission replays ...................................................... 101
5.9.3. Congure Autowalk mission replay options ......................................... 102
5.9.3.1. Mission route settings .................................................................. 102
5.9.3.2. Mission replay options ................................................................. 103
5.9.4. Autowalk replay supervision .................................................................. 105
5.9.5. Mission prompts and Operator intervention ........................................ 106
5.10. Navigate stairs .................................................................................................. 107
5.11. Recover from a fall ............................................................................................ 109
5.12. Create a log entry ............................................................................................. 110
5.13. Turn off Spot ..................................................................................................... 110
5.14. Recommended practices during Spot operation ........................................... 111
6. Maintenance ............................................................................................................... 112
6.1. Service and repair ............................................................................................... 112
6.2. Clean and maintain Spot ................................................................................... 112
6.2.1. Exterior cleaning ...................................................................................... 112
6.2.2. Preventive maintenance ......................................................................... 113
6.3. SpotCheck (joint and camera calibration) ........................................................ 113
6.3.1. Joint calibration and camera check ........................................................ 115
6.3.1.1. Revert to previous joint calibration ................................................ 116
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6.3.2. Camera calibration .................................................................................. 117
6.3.3. SpotCheck with Spot Arm ..................................................................... 118
7. Declarations and marking ....................................................................................... 120
7.1. EU Declaration of Conformity ............................................................................ 120
7.2. Labels .................................................................................................................. 121
8. Appendix A: Supplemental information ................................................................. 122
© 2024 Boston Dynamics, Inc. 6

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.
Boston Dynamics performed a risk assessment and derived the Instructions about residual risks based
on the reasonably foreseeable use of Spot within its declared intended uses and in conditions subject
to limitations. We recommend that you complete your own risk assessment concerning the integration
and commissioning of Spot in your particular environment and conditions. Any deviation from the
intended uses of Spot and the conditions in which Boston Dynamics estimated and evaluated risks (see
Risk assessment) could be addressed by supplemental actions to further reduce application-specic
residual risks.
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 Appendix A: Supplemental information).
This document is valid for the following designations of Spot:
Hardware
Model (P/N):
04-00143531-001
04-00143531-401
04-00143531-601
04-00143531-611
Software v3.3.2
1.2. Manufacturer information
Spot is manufactured by:
Boston Dynamics, Inc.
200 Smith St.
Waltham, MA 02451
USA
[phone]
Introduction
© 2024 Boston Dynamics, Inc. 7

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
© 2024 Boston Dynamics, Inc. 8

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
© 2024 Boston Dynamics, Inc. 9

1.3.2. Spot anatomy
Spot in the "stand" pose.
Spot in the "sit" pose. The body and all four feet rest on the ground.
Introduction
© 2024 Boston Dynamics, Inc. 10

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) 33.6 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
© 2024 Boston Dynamics, Inc. 11

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 Restrictions on the environment.
2There are gaps near the hips where the depth camera eld of view does not overlap. See Obstacle avoidance.
Introduction
© 2024 Boston Dynamics, Inc. 12

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 the professional use of its locomotion and carrying capabilities in either industrial,
restricted, or supervised environments.
Spot is intended to be used in dedicated areas, where its possible presence is clearly demarcated or
indicated. The limits of locomotion and environments are detailed in Restrictions on the environment.
Spot can carry attachments intended for sensing, monitoring, or other non-contact interaction. Other
uses are not intended. The integration of an attachment could in fact result in additional hazards or
different risks when the attachment compromizes the stability of Spot, includes dangerous materials, or
creates hazardous emissions of all types. For the limits and conditions in which the integration of an
attachment can no longer be considered within the intended use, see Integrate attachments.
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 Key terminology). The limits of occasional exposure are detailed in
Risk assessment.
Any use outside of the intended use is subject to a risk assessment and reduction by the nal user.
Boston Dynamics recommends that you perform a specic risk assessment to verify:
•the nalized layout of deployment, the setup, and any training activity dedicated to illustrate Spot's
working zones;
•the verication of the conditions of the environment, with particular attention to obstacles affecting
Spot's navigation that may become apparent after the initial commissioning;
•any additional safeguards or other risk reduction measures;
•potential unplanned maintenance and troubleshooting.
The risk assessment for Spot considered reasonably foreseeable misuses. Explicitly prohibited uses
include:
•Underwater and airborne applications.
Product safety overview
© 2024 Boston Dynamics, Inc. 13

•Military use.
•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.
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 Remote controllers and Drive Spot with remote control. All Spot operations are supervised and
executed by a human driver who is responsible for verifying the surrounding conditions.
•Automatic: Autowalk missions can be recorded and replayed by Spot. During replay Spot operates
automatically. See Automatic operation.
The frequency and duration of Spot operations in either manual or automatic modes varies greatly
depending on the specic use of Spot.
For example, foreseeable uses in 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 of foreseeable exposure to Spot is reported in Risk assessment.
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
hazards during operations.
Product safety overview
© 2024 Boston Dynamics, Inc. 14

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).
On a rm at surface such as concrete, wood oor, or thin carpet, Spot's movement while walking is
a regular cadence of each pair of legs swinging and touching the ground together. The body remains
approximately stable at the same height and attitude.
Spot will change body posture, the pose of the legs, and gait pattern when necessary to perform
programmed actions (e.g. pointing an attachment in a given direction) or to maintain balance under
disturbances.
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.
WARNING
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 Hazards associated with stopping or other powerless motion).
For more information about driving Spot on stairs, see Navigate stairs.
Product safety overview
© 2024 Boston Dynamics, Inc. 15

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 Enable AutoReturn to recover from loss
of connection to the controller and 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 Remote controllers and Stop 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
© 2024 Boston Dynamics, Inc. 16

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 13849-1:2023, 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
© 2024 Boston Dynamics, Inc. 17

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
Hazards associated with stopping or other powerless motion.
2.5.3. Emergency stop (E-Stop)
NOTICE
The E-Stop button applies only to Spot model number 04-00143531-401.
Information about additional Emergency Stop devices applies to all models.
Spot's E-Stop button. Press rmly to activate; twist clockwise to release (unlatch).
Spot includes an Emergency Stop (E-Stop) button located at the top rear corner of its body.
When pressed, the E-Stop button triggers the Safety-related stop, resulting in an Emergency Stop
function compliant with ISO 13850. Spot will not resume operations until a deliberate reset and restart
procedure is initiated (see Restarting after a stop using the tablet controller).
Spot can be optionally tted with additional Emergency Stop devices that comply with the same
standard. Any additional Emergency Stop input device must meet the requirements of the safe input
interface on the payload port as described in Safety-related stop.
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.
Product safety overview
© 2024 Boston Dynamics, Inc. 18

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 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.
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 Tablet controls (Drive mode).
Speed setting Velocity
Fast 1.6 m/s
Med (default) 0.9 m/s
Slow 0.5 m/s
CAUTION
Changes to speed settings take effect immediately. Spot may change speed mid-
stride.
Speed settings limit the maximum speed that can be commanded by the controller. Spot's actual speed
depends on a variety of factors including:
•The current speed setting.
•The current Ground Friction setting (see Platform status panel).
•Variable inputs from locomotion controls, such as the amount of tilt applied to the joysticks on the
tablet controller.
•Disturbances that cause Spot to alter its gait so as to maintain balance (see Quick-step slip
prevention).
•Disturbances or hardware failures that result in a fall, during which Spot's body or legs may briey
exceed the maximum speed before being de-energized and/or coming to rest.
On a rm at surface such as concrete, wood oor, or thin carpet, most adults can easily outpace Spot
at its default walking speed and there is limited kinetic energy associated with Spot's forward motion.
Product safety overview
© 2024 Boston Dynamics, Inc. 19

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.
•Obstacles that are hard to detect until Spot is very close. (For details on the limits of the perception
system, refer to 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 Drive Spot with
remote control. The obstacle avoidance cushion may prevent Spot from traversing doorways and other
conned spaces.
Product safety overview
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