Boston Acoustics SPOT User Manual
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Boston Acoustics SPOT User Manual

Boston Acoustics SPOT User Manual

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SPOT
USER GUIDE
RELEASE 2.0 VERSION A
R 2.0
V A

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Summary of Contents for Boston Acoustics SPOT

  • Page 1 SPOT USER GUIDE RELEASE 2.0 VERSION A R 2.0...
  • Page 2 R 2.0...

  • Page 3: Table Of Contents

    INTRODUCING SPOT HANDLING SPOT HELLO MOTOR LOCKOUT SYSTEM CONTENTS HANDLES BODY LIFTING SPOT BUTTONS & PORTS PLACING SPOT IN CASE POWER & MOTOR LIGHTS ROLLING SPOT STATUS LIGHTS SETUP CONTROLLER BATTERY POWER SAFETY TRAINING SAFETY DISTANCE SAFETY IN HANDLING BATTERY SAFETY BYSTANDER SAFETY R 2.0...
  • Page 4 OPERATION AUTOWALK TURNING ON SPOT MISSIONS CONNECTING THE CONTROLLER NAVIGATION STOPPING THE ROBOT FIDUCIALS TURNING ON MOTORS WAYPOINTS SELF-RIGHT ACTIONS SIT & STAND AUTOWALK SETUP WALKING SPOT PLACING FIDUCIALS TUNABLE PERCEPTION RECORDING A MISSION TUNABLE PLATFORM SETTINGS REPLAYING A MISSION...
  • Page 5 SERVICE & REPAIR TURNING SPOT OFF LEGEND SHIPPING WARNING: Indicates a hazardous situation TROUBLESHOOTING which, if not avoided, could result in death CONTACT SUPPORT or serious injury. Such situation could also result in significant damage to the robot or property.
  • Page 6 R 2.0...

  • Page 7: Introducing Spot

    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.

  • Page 8: System Contents

    SYSTEM CONTENTS • Spot Robot • Battery (x2) • Charger • Controller R 2.0...

  • Page 9: Body

    BODY BODY BACK BOTTOM UPPER KNEE FRONT LOWER R 2.0 FOOT THREE-QUARTER VIEW...
  • Page 10 MOUNTING RAIL (x2) PAYLOAD PORT (x2) HANDLE (x4) STEREO CAMERA (x5) STATUS LIGHT (x2) R 2.0 THREE-QUARTER VIEW...

  • Page 11: Buttons & Ports

    BUTTONS & PORTS BACK VIEW POWER PORT & COVER MOTOR ETHERNET POWER LOCKOUT PORT & CAP BUTTON BUTTON STATE OF CHARGE (SOC) BUTTON R 2.0 Shows the battery charge level; located on the battery BOTTOM VIEW...

  • Page 12: Power & Motor Lights

    POWER & MOTOR POWER LOCKOUT ROBOT LIGHTS BUTTON BUTTON STATUS NO LIGHTS: Robot and motors off (lockout engaged) BACK VIEW BLUE LIGHT: Computers on, motors off (lockout engaged) SLOWLY FLASHING RED LIGHT: Motors available but not powered QUICKLY FLASHING RED LIGHT: POWER AND Motors turning on MOTOR LIGHTS...

  • Page 13: Status Lights

    Rainbow dots: Charging, dots show % charge MOTORS 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! Solid green: Motors on ERRORS R 2.0...

  • Page 14: Controller

    Standard Mode: Provides easy-to-use control for most situations. Demo Mode: Enables demonstration gaits and Spot is controlled by an android app running on adds additional button controls to make it easy a tablet. The Spot System includes an Android to switch modes.

  • Page 15: Safety

    Spot may sometimes move unpredictably or fall. It is the operator’s responsibility to ensure that R 2.0 Only use Spot in areas where a fall or collision bystanders are trained in safe behavior around will not result in an unacceptable risk.
  • Page 16 R 2.0 equipment or other property that may be times to avoid a falling Spot. If Spot falls from an damaged by the robot. Operators and anyone elevated position, it can cause serious injury or nearby should assume that Spot may move death.
  • Page 17 The following conditions may cause Spot to fall: Stairs or inclines If Spot loses balance on the stairs or an incline, it may slip and fall. Holes, Spot cannot detect cliff edges and may walk off cliff edges that are elevated grounds, unblocked.

  • Page 18: Safety In Handling

    SAFETY IN HANDLING ACTIVE MOTORS Fingers may break or get amputated if caught in joints while Spot’s motors are active. Stay at PINCH POINTS least 2m away when Spot is powered on (except to press the lockout or power buttons).

  • Page 19: Battery Safety

    BYSTANDER SAFETY The operator is responsible for ensuring that all BATTERY SAFETY people who may come into close proximity of Spot are aware of robot hazards and receive Spot safety training. Spot is powered by a removable lithium ion battery •...

  • Page 20: Handling Spot

    MOTOR LOCKOUT HANDLES The lockout button mechanically disconnects Spot has a handle at each hip joint. Use these to the motor power and can only be activated by lift, carry, and roll the robot. When using the han- manually pressing the lockout button. Software dles, always make a fist with each hand.

  • Page 21: Lifting Spot

    Spot by the handles and carefully lower into case. payloads. Grab the handles and maintain safe lifting precautions. Always use two people to lift Spot, one at the front and one at the rear. R 2.0...

  • Page 22: Rolling Spot

    ROLLING SPOT CAUTION: Always use Spot’s handles when ROLLING SPOT ONTO ITS BACK rolling the robot. Motors must be in lockout mode. Ensure that there’s Grab farthest front and 1. Stand to one side of empty space to the rear hip handles.
  • Page 23 ROLLING SPOT INTO AN UPRIGHT POSITION CAUTION: Always use Spot’s handles when rolling the robot. Motors must be in lockout Spot can self-right on flat surfaces. Whenever mode. possible, use the automated self-right procedure described on page 26. 1. Stand to one side of Ensure that there’s...

  • Page 24: Setup

    BATTERY POWER temperatures can reduce this runtime. The battery should be removed from Spot if it will be unused for 72 hours or more. Spot is powered by a removable lithium-ion battery pack. The battery can be charged stand- INSERTING THE BATTERY alone or while inside the robot.
  • Page 25 SHORE POWER CABLE POWER CABLE BATTERY CHARGING CABLE CHARGING SYSTEM The charger comes with three cables: R 2.0 • Power Cable: From charger to wall (AC) • Shore Power Cable: From charger to Spot • Battery Charging Cable: From charger to battery...
  • Page 26 Spot. Carefully insert the charging cable into the HOT-SWAPPING THE BATTERY charging port at the back of Spot shown on page 5. Hot-swapping is a way to exchange batteries The battery will begin charging regardless of without rebooting the robot’s computers. To hot- whether Spot’s computers are powered on or off.

  • Page 27: Operation

    OPERATING WARNING: It’s the operator’s responsibility to only use ENVIRONMENT Spot in a safe environment. These guidelines are for reference only. They don’t describe every unsafe condition. If an environment or robot behavior seems unsafe: STOP. ENVIRONMENT Surface type •...
  • Page 28 Unknown or poor communications performance For conditions that may cause Spot to fall, refer to the Safety section on page XX for R 2.0 details on how to reduce the risk of Spot falling or colliding with people or objects.

  • Page 29: Turning On Spot

    CONNECTING THE CONTROLLER TURNING ON SPOT Spot has built-in WiFi. It hosts its own WiFi network and can join an existing network. Default usernames and passwords for Spot’s WiFi are 1. Make sure Spot: stored in the battery compartment. Payloads can expand Spot’s connection options.

  • Page 30: Stopping The Robot

    REGULAR STOP Press the controller’s B button to stop Spot. AUTOMATIC STOP It will pause and stand in place. If Spot is seated, it will remain seated. In an emergency, use the Spot monitors its sensors and can automatically emergency stop as described below.

  • Page 31: Self-Right

    SELF-RIGHT SIT & STAND Spot can sometimes end up on its back or on the ground with its legs in an unusual position. Self-righting flips Spot over and positions its legs to be ready to stand. NOTE: Do not use self-right on uneven surfaces, slippery surfaces, or near other objects.
  • Page 32 Only use Spot in field of view and a detection range up to 4 m. areas where a fall or collision will not result To adjust how close Spot can get to an obstacle, in an unacceptable risk. R 2.0 move the Perception tab’s “Avoid distance”...
  • Page 33 When walking Spot through soft objects like curtains, tall grass, or brush, it may be useful to turn off obstacle avoidance. However, Spot will now collide with all obstacles. It is up to the opera- tor to avoid obstacles in this mode.
  • Page 34 The controller’s joysticks can pose Spot’s body while its in stand mode. Its feet will generally BODY remain still. However, Spot may adjust its feet to POSING maintain balance if necessary. PITCH ROLL R 2.0 BODY ELEVATION ROLL PITCH Y axis of left joystick moves...

  • Page 35: Walking Spot

    You can change Spot’s speed by selecting options from the action bar. Beginners should Spot can walk in most places that a person can. stay at Slow speed. High speeds affect Spot’s Only walk Spot in a safe operating environments ability as outlined in this user guide.
  • Page 36 CHANGING GAITS Spot has multiple locomotion gaits. Change To change gaits: gaits to suit operating conditions of a mission or 1. Select “Walk” on action bar. demonstration. The controller commands Spot the same way regardless of gait. 2. Select desired gait from pop-up menu.

  • Page 37: Tunable Perception

    Improves Spot’s performance on grated flooring • To be turned on when Spot traverses on grated flooring • May also help Spot navigate flooring that has a very repetitive pattern Ground Height Detection Helps Spot navigate over obstacles approximately 12” or less in height •...

  • Page 38: Tunable Platform Settings

    Defaults to 0.6 • Lowering the value from default will result in slower and smaller steps • If Spot is in good, dry conditions, his maximum speed can be achieved with the highest setting Step height Controls the height of Spot’s step •...

  • Page 39: Navigating Stairs

    Spot can navigate stairs: 1. Use controller to switch Spot to stairs gait. 2. Aim Spot up stairs. 3. Use left joystick to walk Spot up stairs, as if walking straight down hallway. 4. Always descend stairs with Spot in reverse.

  • Page 40: Teleoperation

    Spot’s WiFi access point, maximum range is typically 50 Touch to go lets you drive Spot to a specified m. However, walls will affect this range, as will location by touching the desired position on the wireless network interference and other devices.

  • Page 41: Autowalk

    FIDUCIALS MISSIONS Fiducials are specially designed images similar to QR codes that Spot uses to match its internal map to the world around it. A mission defines Spot’s movements and loca- tion-based actions in the environment. Missions...

  • Page 42: Waypoints

    • At 2m intervals along straight paths Client code can run on a Spot payload or on an external device connected to the robot over the • When either event occurs within a 0.3m path network.

  • Page 43: Autowalk Setup

    Repeating the same fiducial multiple times sure to follow these guidelines: in a single mission. Each fiducial in a mission 1. Plan the route Spot should follow through the must be unique, however the same fiducial space and decide where you would like to can be used in multiple missions.
  • Page 44 ADDING A PICTURE TO A MISSION 2. Tap and drag the mission you want to delete to the left. If a Spot CAM payload is attached, you can add To delete mission files using the controller Files a Picture action while recording the mission to...

  • Page 45: Replaying A Mission

    You can connect a controller waypoint associated with a recorded action. containing recorded missions to any Spot in your For example: During mission replay you discover fleet and replay the mission with any of your that a forklift has been parked on top of a way- robots.

  • Page 46: Troubleshooting

    Solution: Be sure to save the mission on Possible causes: The recorded mission is out- completion. Re-record the mission and finish of-date. Spot declares itself lost when it detects the mission download and save process to a significant difference between its perceived completion.
  • Page 47 • Move the controller closer to Spot. CAUTION: Continuing the mission will cause the robot to descend steps facing The robot stops during mission replay forwards, increasing the risk of the robot falling.

  • Page 48: Service & Repair

    1. Walk Spot to charging, storing, or transport ROBOT location. Walk Spot instead of carrying it whenever possible. To ship Spot, remove the battery and load Spot 2. Sit Spot. and the controller into the case. 3. Power off motors with controller.

  • Page 49: Troubleshooting

    • Remove battery and put NOTE: When the robot is cold, some it back in. functions may not work. Let Spot warm up to room temperature for an hour and then power it on. Motors won’t •...

  • Page 50: Compliance

    Unique Identifier The Spot robot and charger have been tested Spot Robot, US Model #: 02-040236-001, Japan and found to comply with the limits for a Model #: 02-040236-002...

  • Page 51: Spot Robot

    RADIO any of the laser components is not allowed and may result in hazardous radiation The Spot Robot contains a certified radio module exposure. Use of controls or adjustments with the following certification identifications: or performance of procedures other than...

  • Page 52: Spot Battery

    Lithium is a E487365 highly reactive element which reacts violent- ly when mixed with water, leading to possi- The Spot charger is for indoor use only. ble battery leakage, smoke, and fire. Battery packs must be handled, stored and disposed R 2.0...

  • Page 53: Specifications

    CATEGORY SPECIFICATION VALUE Dimensions Length 1100 mm (43.3 in) Width 500 mm (19.7 in) Height (standing) 840 mm (33.1 in) Height (sitting) 191 mm (7.5 in) Net weight 32.5 kg (71.7 lbs) Degrees of freedom 1.6 m/s Max speed Environment Ingress protecion IP54 Operating temperature...
  • Page 54 R 2.0...
  • Page 55 R 2.0...

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