Boston Acoustics Spot Instructions For Use Manual
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Boston Acoustics Spot Instructions For Use Manual

Boston Acoustics Spot Instructions For Use Manual

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

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  • Page 1 ® Spot Instructions for Use Safety and Operations Manual Version 2.0 Original Instructions September 2023...
  • Page 2 Copyright © 2023 Boston Dynamics, Inc. All rights reserved. Boston Dynamics, Inc. 200 Smith St. Waltham, MA 02451 +1 617-868-5600 Boston Dynamics Support Center homepage: https://support.bostondynamics.com Contact Support: https://support.bostondynamics.com/s/contactsupport...

  • Page 3: Table Of Contents

    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 specifications ....................10 2. Product safety overview .................... 12 2.1. General principles ....................12 2.2.
  • Page 4 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.
  • Page 5 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.

  • Page 6: Introduction

    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.

  • Page 7: Key Terminology

    Spot Dock. Custom Actions can be created using Spot’s software development tools. Any device or piece of hardware that is affixed to Spot to enhance or expand Spot’s Attachment functionality. Attachments for Spot are commonly called “payloads”.

  • Page 8: Legend Of Hazard Labels

    Introduction 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.

  • Page 9: Spot Anatomy

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

  • Page 10: Spot Specifications

    180 minutes powered, motors off) Spot Power Supply 400 W power output Max charge current Power Time to charge (Spot Approximately 50 Approximately 2 hours Dock ambient temp. minutes for 80% charge for 100% charge 25°C) Time to charge (Spot Approximately 2.5...
  • Page 11 Introduction Category Specification Value Black-and-white or color fisheye, range (depth), Camera functions infrared Number of optical cameras(for image capture, fiducial 5 (front-left, front-right, left, right, rear) recognition, displaying surroundings ) Overall optical field of 360 degrees Cameras view (FOV) Number of depth cameras (for robot 5 stereo pairs (front-left, front-right, left, right, rear) perception, obstacle...

  • Page 12: Product Safety Overview

    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.

  • Page 13: Modes Of Operation

    Any misuse of Spot can potentially cause severe personal injuries or result in significant material hazards. The risk assessment shall consider the entire lifecycle of the Spot application, including but not limited • Setting up and commissioning, with particular attention to training activities.

  • Page 14: Locomotion Primitives: Gaits And Specialized Modes

    2.4.2. Crawl Spot moves slower than trot on flat 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 floors, and other slippery surfaces.

  • Page 15: Stopping Functions

    • 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.
  • Page 16 I1 = pin 19 (See figure below) Use only one port, either front or rear. See example in figure below. Spot will not work without a cap or a properly configured attachment Interface connected to each port. When a cap is used, the stopping function is disabled.

  • Page 17: Stopping Distance

    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...

  • Page 18: Obstacle Avoidance

    NOTICE Although the camera images displayed to an operator may show an overlapping field of view, the perception system has gaps, especially at the rear corners of Spot. Approximation of gaps in the obstacle avoidance field of view. Obstacles are mapped and remembered even when Spot’s movement brings the obstacle into one of the gaps.

  • Page 19: Restrictions On The Environment

    Product safety overview • 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 field of view during its entire approach path.
  • Page 20 • 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...

  • Page 21: Navigational Conditions

    • Cannot detect obstacles directly above Spot (e.g. if Spot is sitting under a table and then attempts to stand, the top of Spot will hit the table). • Objects shorter than 30 cm: Spot will attempt to step on or over the obstacle.

  • Page 22: Before Starting

    The occurrence of misuses can be estimated to be less likely than intended uses. 3. Non-task-based interactions: People can be close to Spot as a mere result of sharing the same facility. The occurrence of unrelated interactions is uncommon, infrequent, typically not permanent, and rarely known in advance.

  • Page 23: Charging Equipment

    Product safety overview CAUTION Do not touch or operate Spot if any damage is noticed and wet parts of the body are exposed to contact. Contact Boston Dynamics Support in case of apparent damage of parts. You must survey the operating environment at commissioning time to identify potential sources of damaging elements that may compromise the original SELV design: •...

  • Page 24: Em Radiation Considerations

    Spot. 2.9.3.2. Radio Frequencies (RF) Spot uses a WiFi radio module and meets the requirements for intentional radiators set in the relevant international technical standards. You should estimate the probability of augmented influence of RF that could affect or compromise the conditions for immunity of Spot from: •...

  • Page 25: Noise

    2.9.4. Noise The airborne noise generated by Spot is determined by the environment Spot is operating in. For instance, Spot will generate much less noise walking across a padded carpet floor than it will walking up metal stairs. Before putting Spot into regular use, work with your Environmental Health and Safety team to determine if additional Personal Protective Equipment (PPE) is required due to the noise Spot generates in its working environment.

  • Page 26: Accidental Impacts During Normal Locomotion On Flat, Non- Elevated Grounds

    2.9.6.1. Accidental impacts during normal locomotion on flat, non- elevated grounds Always consider the position of Spot with respect to an affected person to estimate the severity of hazardous conditions. Situations Elevation <...
  • Page 27 Less than 1 minute per interaction when Spot is operating in automatic mode. • Less than 10% of the total usage time when Spot is operating in areas with restricted access. • Several minutes, up to 1 hour, when Spot is being operated in manual mode (recording missions, remotely-controlled operations).
  • Page 28 • Spot is in general distinctively visible. • Missions follow very regular and repeatable paths. • Spot’s size makes it possible to easily maintain clearances. Behavior of • Direction of access affected people • Share of spaces and lanes •...

  • Page 29: Loss Of Stability And Falls

    Almost invisible tripping hazards, like ropes or rebar too thin to be distinguished from the background. 2.9.6.2. Loss of stability and falls Spot stands up and keeps balancing only with active control. However, active control does not ensure that stable balancing is always attained. Situations Elevation <...

  • Page 30: Hazards Associated With Stopping Or Other Powerless Motion

    Product safety overview Situations As a result of a loss of stability, Spot will de-energize its legs to avoid additional hazards during potential uncontrolled tip-over movements. If residual motion under gravity can occur (see also 2.9.6.3: Hazards associated with stopping or other powerless...

  • Page 31: Pinch Points During Motion

    Product safety overview firmness, etc.) may force Spot to iterate its gait to secure its footing. Spot will eventually de-energize but could have passive residual motion (e.g. slide down an incline). You should estimate the likelihood ofoccurrenceof passive residual motion considering the following factors: •...

  • Page 32: General Warnings

    Severity is low. Overall occurrence is low. WARNING Do not try to recover Spot by grasping or holding it up during an apparent loss of stability. 2.10. General warnings Consider the following instructions when you analyze and evaluate your Spot application (during and after a risk assessment): •...

  • Page 33: Transport, Handling, And Storage

    Transport, handling, and storage 3. Transport, handling, and storage 3.1. Transport Spot is transported in two customized cases designed exclusively for Spot and its accessories. 3.1.1. Shipping case specifications Category Specification Value Length 927 mm Width 546 mm Spot robot shipping case...

  • Page 34: Pinch Points

    Always keep hands away from hip joints, except when grabbing the handles. 3.2.2. Handles There is a handle at each hip joint to lift, carry, and roll Spot. Hands and fingers may still be pinched when using the handles. © 2023...

  • Page 35: Lifting Spot

    Always use two people to lift Spot, one at the front and one at the rear. Lift Spot by the handles while it is sitting upright, or by the lower legs if on its back. Always grab the handles or legs with clenched fists.

  • Page 36: Personal Protective Equipment (Ppe)

    3.3. Storage Spot is best stored in the case or at a Spot Dock when not in use. Store Spot in a dry location with temperatures between -40°C and 75°C, with relative humidity between 30% and 70%.
  • Page 37 (air, ground, rail, or sea). To determine the SOC of the Spot battery, push the button on the battery and read the led indicators. When the indicator shows 1 bar, it means it has less than 30% SOC.

  • Page 38: Setup

    In general, initial power-ups, standing, and movements of legged robots may be unfamiliar to first users. Ensure that all bystanders are trained in the use of Spot and about the residual risks of Spot applications. 2-meter safety zone around Spot.

  • Page 39: Integrating Attachments

    Setup 4.2. Integrating attachments Attachments are often essential components to integrate Spot into a final application. Attachments may substantially change the estimation of risks for Spot in the integrated solution, including: • Introducing new hazards to Spot applications. • Changing the risks associated with Spot’s intended use.
  • Page 40 Setup Flowchart of the process for analyzing attachments. © 2023 Boston Dynamics, Inc.
  • Page 41 WARNING Spot has been tested to EMC Industrial standards. Attachments that emit radiation in excess of the levels Spot has been tested to may cause harm to Spot and degrade its performance in a dangerous manner. Boston Dynamics is not responsible for any damage caused by radiating attachments.

  • Page 42: Attachment Mount Points And Dimensions

    4.2.2. Attachment mount points and dimensions Aluminum mounting rails are located along the top left and top right edges of Spot’s body and provide a secure means of mounting attachments to Spot. The rails accept T-slot nuts such as Misumi HNTR5-5.
  • Page 43 Setup Spot dimensions with respect to mounting attachments. The maximum recommended width for a body-mounted attachment is 190 mm. Attachments should avoid interference with the legs in the areas immediately adjacent to the hips, as illustrated below. © 2023 Boston Dynamics, Inc.
  • Page 44 The height of attachments impacts Spot's ability to self-right and increases the height of the center of mass. Keep the center of mass low, as Spot may not self-right if top heavy.

  • Page 45: Mounting Attachments

    Spot can better handle payload mass if the combined center of mass lies between the front and rear hips. Spot will be more agile and less likely to fall if the total attachment mass is centered on the middle of its body.

  • Page 46: Configuring Attachments

    4.5.1: Log in to the Admin Console. Select Payloads. Some attachments will auto-register with Spot to streamline setup. If your attachment already appears on the page: Select AUTHORIZE. Select the configuration that matches your attachment (model and front or rear mount location), then select AUTHORIZE.

  • Page 47: Inserting And Removing The Battery

    Do not dispose of the battery with household waste. Refer to local electric waste regulations. • Do not charge, or operate Spot with, a battery that is cracked or otherwise damaged. For assistance with damaged batteries, contact Boston Dynamics Support.

  • Page 48: Charging The Battery

    Setup To insert the battery: With Spot on its back and disconnected from power and Ethernet cables, slide the battery’s non-handle side into the rear of Spot’s battery compartment and latch the handle. Ensure the battery is properly latched. Removing the battery.
  • Page 49 Boston Dynamics Support Center. 8: Appendix A: Supplemental information Only charge the battery with the Spot Dock or the Spot Power Supply provided by Boston Dynamics. Charging a battery with the Spot Power Supply. Charging a battery in Spot with the Spot Power Supply.
  • Page 50 Power cords present tripping hazards and may cause the Spot Power Supply to fall from an elevated position. • Place the Spot Power Supply on a dry floor, out of the path of people or robots, while charging. • Do not operate Spot while connected to the Spot Power Supply. Doing so could damage Spot or the Spot Power Supply.

  • Page 51: Spot Dock Setup

    Setup 4.4. Spot Dock setup The Spot Dock is a recharging station for Spot. The Spot Dock can also provide a pass-through connection for Spot’s Ethernet port. Before using the Spot Dock, check that the following conditions are met: •...

  • Page 52: Log In To The Admin Console

    5.2.2: Connecting the tablet controller to Spot. Navigate to Menu ≡ > ADMIN CONSOLE. Log in with the admin username and password printed on the label in Spot’s battery compartment, or using credentials provided by your Spot system administrator. © 2023...

  • Page 53: Network Configuration

    WiFi and https:// 10.0.0.3 when connected by Ethernet. Log in with the admin username and password printed on the label in Spot’s battery compartment, or using credentials provided by your Spot system administrator.

  • Page 54: Changing The Network Configuration

    255.255.255.0 between computer and Spot) 4.6.2. Changing the network configuration To change Spot's network configuration: Log in to Spot’s Admin Console as described in 4.5.1: Log in to the Admin Console. Select Network Setup. Navigate between the tabs to access settings.

  • Page 55: Use Of The Machine

    Battery and power controls. 5.1.1. Power and motor status lights The power and motor lockout buttons are located at the rear of Spot’s body. The power button illuminates blue when Spot’s computers are on. The motor lockout button illuminates red when the motor lockout is reset.

  • Page 56: Robot Status Lights

    Power and motor status lights. When Spot is powered on and motors are locked out (blue light only), motion commands are disabled. Spot will not move until the motor lockout is reset and Spot receives a start command as described in 5.3: Starting Spot.
  • Page 57 Yellow System booting up Moving rainbow Powered on, ready to connect Solid blue Lockout button engaged; Spot is safe to handle Filling blue Charging, dots indicate percentage of charge Solid blue with Plugged in or docked, no battery Slow blink Spot connected;...

  • Page 58: Remote Controllers

    Serious error or perception fault; operation degraded 5.2. Remote controllers Spot can be operated with the tablet controller that ships with Spot, or from a computer running the Scout browser application. This document describes the use of the tablet controller. For instructions...

  • Page 59: Connecting The Tablet Controller To Spot

    To take control of Spot from another controller: If you see a different button such as OPERATE or HIJACK when connecting to Spot, it may mean that Spot has already been started and is operating in automatic mode or under the control of another Operator.

  • Page 60: Enabling Autoreturn To Recover From Loss Of Connection To The Controller

    5.2.3. Enabling AutoReturn to recover from loss of connection to the controller Spot maintains a connection to a remote controller while operating manually. If the signal is lost, Spot will sit and power off its motors as described in 2.5.1: Operational stop.

  • Page 61: Power On Spot's Computers

    2. Reset the motor lockout. The motor lockout prevents motor power. Once reset, power is available to motors but no motion command is enabled or allowed yet. 3. Start Spot’s motors. This step is done on a remote controller. Motors are energized and Spot may move at any time.

  • Page 62: Reset The Motor Lockout

    Use of the machine When the noise of the fans is audibly lower and the status lights at the front of Spot change to solid blue, Spot’s computers are powered on. 5.3.2. Reset the motor lockout To reset the motor lockout: Press the Motor Lockout button on the rear of Spot.

  • Page 63: Stopping Spot

    5.4.1. Manual stop using the tablet controller To suspend robot motion while driving Spot with the tablet controller, select STOP. Spot will pause and stand in place. If Spot is seated, it will remain seated. To de-energize Spot’s motors, use either of these methods: •...
  • Page 64 Use of the machine Tablet controller STOP button. Tablet controller CUT POWER button. © 2023 Boston Dynamics, Inc.

  • Page 65: Restarting After A Stop Using The Tablet Controller

    Use of the machine WARNING When motors are de-energized, Spot will lose its ability to stand and balance. On flat ground, Spot will lower its body. On inclined surfaces or stairs, Spot may tip over. 5.4.2. Restarting after a stop using the tablet controller To resume operation with the tablet controller after a stop: First make sure safety conditions are met, and sufficient clearance is maintained.

  • Page 66: Changing Spot's Mode Of Operation

    If Spot is running an Autowalk mission unsupervised or under the supervision of another remote controller, you will be prompted to power off and restart Spot's motors as part of the mode change. CAUTION Changing modes will bring any current robot motion to a standstill, and may cause Spot to immediately begin moving along a new trajectory.

  • Page 67: Switching To Manual Mode

    • A restored connection between Spot and a remote controller as a result of AutoReturn. Spot will remain in manual mode until it is switched to automatic mode or powered off, or until AutoReturn is triggered. 5.6. Docking and undocking Spot During docking, Spot: 1.
  • Page 68 2. Slowly unfolds and lowers its legs, then stands up. 3. Walks forward until its rear legs are clear of the Spot Dock. Spot uses its perception system to recognize the Spot Dock and navigate automatically during docking and undocking.

  • Page 69: Docking And Undocking In Manual Mode

    Spot Dock. If your ability to observe the operation remotely is compromised, abort docking. When Spot is close enough, the dock fiducial will be highlighted in purple on the controller screen. Generally, this happens within 4 meters of the dock.

  • Page 70: Driving With Remote Control

    Use of the machine Spot will automatically undock. 5.7. Driving with remote control When driving with remote control, you are in direct control of Spot’s movements and behaviors. 5.7.1. Tablet controls (Drive mode) Tablet Drive mode controls. Label Control Description...
  • Page 71 Left joystick Move Spot forward, backward, left, and right. Right joystick Rotate Spot clockwise or counterclockwise. Spot will walk to the location you select. Select ⓧ to cancel. Touch-to-Go Height slider Adjust Spot’s walking height. Switch between three maximum speed settings (SLOW, MED, Speed slider FAST).

  • Page 72: Tablet Controls (Autowalk Mode)

    Spot will try to keep between itself and status panel obstacles. Battery status Open, then select ROLL OVER: Spot sits and rolls onto its side, panel exposing the battery compartment. Determine how closely Spot should adhere to the recorded mission route on replay.

  • Page 73: Recording An Autowalk Mission

    NOTICE Many incidental operations during recording, such as standing idle or switching camera views, are not included in the mission map and will not be repeated by Spot during replay. To start a mission recording, at least one fiducial marker must be placed in the operating environment.

  • Page 74: Automatic Operation

    To replay an Autowalk mission from the tablet: If the mission begins or ends at a Spot Dock, ensure Spot is on the dock. Otherwise, ensure Spot is within sight of at least one fiducial that was recognized during mission recording.

  • Page 75: Scheduling Autowalk Mission Replays

    Action. Scheduling an Autowalk mission. To schedule a mission replay using the tablet controller: Ensure Spot is on the same Spot Dock where the mission recording ends. Follow steps 2 through 6 as described in 5.8.1: Replaying an Autowalk mission.

  • Page 76: Configuring Autowalk Mission Replay Options

    Use of the machine A countdown to the next scheduled mission start appears. At the scheduled time, Spot carries out the mission. To cancel a scheduled mission: Select CANCEL MISSION. Select YES to exit Autowalk mode. 5.8.3. Configuring Autowalk mission replay options Mission replay options modify Spot’s behavior as it carries out an Autowalk mission.
  • Page 77 Spot will wait for the specified battery charge to be achieved before undocking starting the mission. Charge to return to During a mission, if the battery charge is running low, Spot can return to dock the dock automatically to recharge before finishing the mission. NAVIGATION FAILURE BEHAVIOR (see 5.8.5: Mission prompts and Operator...
  • Page 78 Useful for confirming Spot’s ability to navigate the mission route, and short sleeps when extending previously recorded missions. If this box is checked, Spot will attempt to follow the recorded path Enable strict path exactly without navigating around obstacles, even for parts of the following mission route where wide path following was enabled during recording.

  • Page 79: Autowalk Replay Supervision

    The Autowalk replay supervision setting determines how long Spot can continue operating in automatic mode without a connection to a remote controller. After the set duration, Spot will sit and power off its motors as described in 2.5.1: Operational stop.

  • Page 80: Mission Prompts And Operator Intervention

    If you don’t respond to the prompt, Spot will abort or continue the mission according to the mission replay options. Prompt timeouts and Spot’s behavior if no input is received are configurable as described in 5.8.3: Configuring Autowalk mission replay...

  • Page 81: Navigating Stairs

    When manually controlling Spot on stairs or recording an Autowalk mission that includes stairs, follow these instructions for safely climbing and descending stairs: To climb stairs, position Spot at the base of the staircase, and push the Left joystick forward to walk Spot straight up the stairs.
  • Page 82 Use of the machine Stair safety. The following conditions and/or actions are critical for safe stairway navigation and must be checked whether manually controlling Spot or recording/replaying an Autowalk mission: • Grated stairs, open-riser stairs, or partially transparent stairways pose significant perception challenges during stair locomotion.

  • Page 83: Recovering From A Fall

    Position yourself at the top or 2 meters away from the bottom of the staircase before driving Spot onto the stairs. • Do not follow Spot up the stairs until it has come to a standstill on a flat landing with sufficient clearance. •...

  • Page 84: Turning Off Spot

    Always give Spot the right of way, especially during automatic operation. • Do not stand beneath or downhill of Spot when it is on an elevated surface, such as a staircase or elevated platform. Stay at least 2 meters away from the bottom of any staircase or incline where Spot is active.
  • Page 85 • Do not move, alter, damage, or block fiducials. • Do not intentionally block mission paths, place objects in Spot’s way, or otherwise alter the operating environment in ways that deliberately interfere with robot operation. © 2023 Boston Dynamics, Inc.

  • Page 86: Maintenance

    6. Maintenance 6.1. Service and repair Do not attempt to service or repair Spot yourself. If errors or other issues persist during robot operation, Spot may need attention from Boston Dynamics Support engineers. Include the following information when contacting Support: •...

  • Page 87: Preventive Maintenance

    Maintenance • Use a non-abrasive cloth dampened with glass cleaner to clean camera windows. • Use a magic eraser or a mild detergent to clean superficial scuffs on Spot’s body or leg panels. • Do not use bleach. • Do not use strong solvents.

  • Page 88: Declarations And Marking

    The robot’s function as a complete machine may be determined by its attachments, environment, and intended application. Designation s/n: BD-<Y><#######> Y = last digit of the year Spot Model: 04-00143531-001 ######## = 31640001 or higher © 2023 Boston Dynamics, Inc.

  • Page 89: Labels

    June 13, 2023 7.2. Labels The following labels and nameplates appear on Spot. Labels are located inside the battery compartment and are visible before installation. The year of production is the first digit of the serial number (S/N) following “BD-”. For instance, the serial number BD-3####### indicates a Spot produced in 2023.
  • Page 90 Declarations and marking Spot nameplate & label. © 2023 Boston Dynamics, Inc.

  • Page 91: Appendix A: Supplemental Information

    Appendix A: Supplemental information 8. Appendix A: Supplemental information Additional information and resources about Spot are available online at the following URLs: Resource Section 2.9.2.1 Spot Power Supply https://support.bostondynamics.com/s/spot-product- Information for Use safety 4.3.2 2.9.2.1 4.3.2 Spot Dock Information for https://support.bostondynamics.com/s/spot-product-...
  • Page 92 5.8.5 5.7.2 Getting started with https://support.bostondynamics.com/s/article/ Autowalk Getting-Started-with-Autowalk 5.7.3 5.7.3 Creating robust Autowalk https://support.bostondynamics.com/s/article/ missions Creating-a-robust-Autowalk-mission-framework 5.8.3 Preventative maintenance https://support.bostondynamics.com/s/article/ for Spot Preventative-maintenance-for-Spot Recalibration with https://support.bostondynamics.com/s/article/ SpotCheck Recalibration-with-SpotCheck https://support.bostondynamics.com/s/article/ Spot Battery air shipment 3.3.1 Battery-Air-Shipment-Guidance © 2023 Boston Dynamics, Inc.

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