Page 1 ® Spot Instructions for Use Safety and Operations Manual Version 2.1.1 Original Instructions January 2024...
Page 2 Copyright © 2024 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 .................... 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 specifications ....................11 2. Product safety overview .................... 13 2.1. General principles ....................13 2.2.
Page 4 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.
Page 5 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.
Page 6 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.
Page 7: 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 8: 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 9: 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 10: Spot Anatomy
Introduction 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. © 2024 Boston Dynamics, Inc.
Page 11: 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 12 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 13: 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 14: Modes Of Operation
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. Remote controllers Drive Spot with remote control. All Spot operations are supervised and executed by a human driver who is responsible for verifying the surrounding conditions.
Page 15: Locomotion Primitives: Gaits And Specialized Modes
Spot’s default gait. Spot moves at variable speed on alternating pairs of legs (front-right/hind-left, front-left/hind-right). On a firm flat surface such as concrete, wood floor, 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.
Page 16: 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 17 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 18: Stopping Distance
On flat 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.
Page 19: Velocity Limitation
On a firm flat surface such as concrete, wood floor, 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.
Page 20: Obstacle Avoidance
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.) •...
Page 21: Auditory And Visual (A/V) Warning System
The warning system consists of five indicators that project colored light onto the ground to the front and sides of Spot's body, a buzzer, and a speaker. When the warning system is enabled, signal patterns activate automatically when specific operating conditions are met (see Warning system light and sound patterns).
Page 22: Buzzer
On the bottom body panel between the rear hips (2 indicators). The indicators are angled to illuminate the ground in front, beneath, and to the sides of Spot. This is intended to maximize surface reflections and improve visibility from around corners, behind small obstacles, beneath grated surfaces such as stairs and walkways, and other directions where Spot might not be directly or easily visible.
Page 23 (not for human objects along or near off) intervention). Spot's path during automatic operation. Normal operations with Traversing a crosswalk Slow Slow blink an increased level of area during automatic beep warning.
Page 24 (not for human objects along or near off) intervention). Spot's path during automatic operation. Normal operations with Traversing a crosswalk Slow Slow blink an increased level of area during automatic beep warning.
Page 25: Restrictions On The Environment
When walking at default speed on a firm flat surface such as concrete, wood floor, or thin carpet, Spot's motion resembles that of a dog or other quadruped and it can easily be outpaced by most adults (see Walk (“trot”)
Page 26 Erratic movements for regaining balance • Inability to proceed with locomotion Exceeding the Climate/Ingress conditions may have a significant effect on the reliability of Spot hardware: • Extreme temperatures or submersion in water may cause failures in various Spot components dedicated to perception and control (cameras, joints, CPU, etc.)
Page 27: 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 28: Before Starting A Risk Assessment
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 29: Electrical Hazards
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.
Page 30: Hazards Due To Non-Ionizing Radiation
Spot. 2.10.3.2. 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 31: Bright Lights
2.10.4. 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 32: Fire, Explosion And Hazardous Materials
DANGER In the unlikely event of damage with visible breakage of any part of Spot or its batteries, DO NOT touch or attempt any recovery. It is extremely unlikely that the battery generates fire under normal conditions of use and environment.
Page 33: Accidental Impacts During Normal Locomotion On Flat, Non- Elevated Grounds
Considerations for the severity of hazards When Spot is actively moving, accidental minor impacts may occur only with the lower body (feet and lower legs). While Spot is moving and balancing on legs, any accidental impact with Spot would be a short event (<...
Page 34 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 35: Loss Of Stability And Falls
2.10.6.2. 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. © 2024...
Page 36: Hazards Associated With Stopping Or Other Powerless Motion
Elevation > 1100 mm Considerations for the severity of hazards 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...
Page 37: Pinch Points During Motion
(and increase severity). During a stop event, Spot will attempt to lower its body in control before full de-energization. However, Spot may occasionally not finish reaching a safe state because the ground conditions (friction, firmness, etc.) may force Spot to iterate its gait to secure its footing.
Page 38: General Warnings
(misuse). 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. 2.11. General warnings • Attachments can alter the stability and the overall energy of an accidental loss of stability.
Page 39 • Consider introducing or upgrading guards in locations potentially exposed to falls from elevated grounds to best fit Spot’s navigation capabilities (e.g. use dense mesh guards, avoid transparent materials, avoid ropes or thin elements). © 2024...
Page 40: 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 41: 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. © 2024...
Page 42: 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 43: Personal Protective Equipment (Ppe)
Check for additional PPE that may be required in the application environment. 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 44 (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 45: 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 46: Integrate Attachments
• Changing the conditions for compliance with standards or local regulations. 4.2.1. Analysis of attachments You must complete your own risk assessment for the use of the assembly of Spot and attachments (see the full procedure in Risk assessment for Spot's baseline risk estimation), considering the...
Page 47 Setup An attachment has provisions for remotely triggering other equipment or processes, for example interfacing with components that start or stop processes or motion in target equipment. Flowchart of the process for analyzing attachments. © 2024 Boston Dynamics, Inc.
Page 48 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 49: 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 50 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. © 2024 Boston Dynamics, Inc.
Page 51 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 52: Mount 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 53: Configure Attachments
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 54: Insert 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 55: Remove The Battery
To remove the battery: Ensure Spot is powered off and disconnected from power and Ethernet cables. With Spot on its back, lift the battery handle and slide the battery out of the battery compartment. 4.3.3. Charge the battery Spot's battery can be charged in several ways: •...
Page 56 Boston Dynamics Support Center. 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 57 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 58: 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 59: Log In To The Admin Console
Connect 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. © 2024...
Page 60: 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 61: Change Spot's Network Configuration
For the best and most reliable performance, keep software fully updated on Spot and related equipment. Boston Dynamics recommends that you: • Update Spot and each controller to the latest software version as soon as it becomes available. • Keep each attachment updated to the latest available software version for that attachment. •...
Page 62: Update Spot Robot Software
Select UPLOAD, then wait for the file to upload. Select INSTALL AND REBOOT. Wait for the software to install and for Spot to reboot. When Spot has finished rebooting, you may need to reload the page to verify that the update was successful.
Page 63 To update the operating system and firmware, follow manufacturer instructions. NOTICE Changing system settings or installing third-party software (e.g. custom keyboards) on the tablet controller may interfere with the performance of the Spot App. Boston Dynamics recommends that you keep the tablet controller in its default configuration whenever possible.
Page 64: 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 65: 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 Start Spot.
Page 66 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 67: Remote Controllers
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 on using Scout, refer to documentation in the Boston Dynamics Support Center (see...
Page 68: Connect The Tablet Controller To Spot
Press the tablet controller’s back button to return to the Spot App. If Spot appears in the NEW ROBOTS list, select it. Otherwise, select + ADD ROBOT and enter Spot’s IP address. (For the default network configuration, the address is 192.168.80.3) Log in with the admin username and password printed on the label in Spot’s battery...
Page 69: Enable Autoreturn To Recover From Loss Of Connection To The Controller
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 70: Start Spot
Use of the machine When enabled, AutoReturn allows Spot to backtrack automatically to a location within a set radius as it attempts to restore its connection to the controller. If the signal is restored, manual operation resumes. If the signal is not restored, Spot will sit and power off its motors.
Page 71: Power On Spot's Computers
The fans will turn on and spin for approximately two minutes. During this time, Spot's computers are booting and its hosted WiFi network is initiating. 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.
Page 72: Reset The Motor Lockout
To reset the motor lockout: Press the Motor Lockout button on the rear of Spot. If Spot’s computers are already powered on, the button will illuminate red and slowly blink to indicate that the lockout is reset. Spot will not start yet. A deliberate start command is necessary from an externally connected control device.
Page 73: Stop 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 74 Use of the machine Tablet controller STOP button. Tablet controller CUT POWER button. © 2024 Boston Dynamics, Inc.
Page 75: 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 76: Change 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 77: Switch 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. A/V warning system settings...
Page 78 Use of the machine • On the tablet controller, navigate to Menu ≡ > SETTINGS > AUDIO/VISUAL. A/V warning system settings. Control Description AUDIO/VISUAL Enable or disable the A/V warning system. SETTINGS Brightness Set the brightness of the indicators. Set the volume of the buzzer. WARNING Buzzer Volume At higher volumes, prolonged exposure to the noise...
Page 79: Dock And Undock Spot
Starts its motors, if they are not already started. Slowly unfolds and lowers its legs, then stands up. 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. NOTICE Before docking or undocking Spot, ensure that the Spot Dock has been installed correctly and is in usable condition.
Page 80: Dock And Undock 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 81: Dock And Undock During Autowalk Missions
Each mission can include only one docking Action, which is tied to a specific Spot Dock as identified by the docking fiducial. The docking Action must be added at the end of the mission recording. For instructions on recording a mission, see Record an Autowalk mission.
Page 82: Drive Spot With Remote Control
Use of the machine 5.8. Drive Spot with remote control When driving with remote control, you are in direct control of Spot’s movements and behaviors. 5.8.1. Tablet controls (Menu bar) The Spot App's menu bar. Label Control Description Main Menu Access app-wide settings and features.
Page 83: Main Menu
Spot. 5.8.1.1. Main Menu The main menu of the Spot App. Menu item Description View Spot's serial number, current robot and tablet software, ABOUT and Spot license. ADMIN CONSOLE Access Spot's Admin Console without leaving the Spot App. Transfer images and other data generated by Actions during DOWNLOAD DATA Manual or Automatic operation from Spot to the tablet.
Page 84 Select SIGN OUT to disconnect from Spot. If motor power DISCONNECT is off, options to power off or reboot Spot will also be available. NOTICE Other options may be available depending on your Spot license and the presence of additional attachments or software. © 2024 Boston Dynamics, Inc.
Page 85: Modes Dropdown
Select DRIVE to operate Spot in Manual mode. • Select AUTOWALK to record or replay Autowalk missions. NOTICE Other options may be available depending on your Spot license and the presence of additional attachments or software. © 2024 Boston Dynamics, Inc.
Page 86: Cameras Dropdown
• Select ROBOT CAMERAS to see the live feed from any of Spot's body cameras. • Select TOP DOWN to see a simulation of Spot's environment from above, using images and depth data from the body cameras. • Select CAMERAS OFF to disable the viewscreen.
Page 87: Controls Dropdown
Use of the machine 5.8.1.4. Controls dropdown The Controls dropdown. To switch between control schemes: • Select the gamepad to drive with joysticks. • Select the hand to drive with Touch-to-Go. For a full list of drive controls, see Tablet controls (Drive mode) Tablet controls (Autowalk mode).
Page 88: Motor Status Panel
Use of the machine 5.8.1.5. Motor status panel The Motor status panel. Control Description Motor Power Turn Spot's motors on and off. Control is required to issue drive commands to Spot. See also: Connect the tablet controller to Spot. CAUTION Take or Release...
Page 89: Perception Status Panel
Use of the machine Control Description Cut motor power authority is required to issue STOP and CUT POWER commands to Spot. Cut motor power authority is not required to issue drive commands to Spot. See also: Connect the tablet controller to Spot Manual stop using the tablet controller.
Page 90 Obstacle CAUTION Avoidance Turning off obstacle avoidance will increase the likelihood of collisions with people and objects in the environment. Slide to adjust how much distance Spot will try to keep between itself and Obstacle obstacles. Avoidance Cushion See also: Obstacle avoidance.
Page 91: Platform Status Panel
Control Description Step Height Control the height of Spot’s step. Slide to adjust Spot’s step height and speed to compensate for different Ground Friction surface types. Lower settings result in slower, smaller steps which may improve stability on slipperier surfaces.
Page 92: Comms Status Panel
The Comms status panel provides information about the network connection between the tablet controller and Spot. NOTICE The Comms status panel icon will flash yellow to indicate a poor connection between the tablet and Spot. © 2024 Boston Dynamics, Inc.
Page 93: Battery Status Panel
On the tablet controller, open the Battery status panel. Select ROLL OVER. Confirm there is at least 1 meter of clear space around Spot, then select ROLL OVER. Spot will sit, roll onto its right side, then power off motors.
Page 94: Tablet Controls (Drive Mode)
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 95: Tablet Controls (Autowalk Mode)
This setting is recorded separately for each path segment. Path following • WIDE PATH (default): Spot may deviate up to 1.5 meters from tolerance the recorded mission route to avoid obstacles. • STRICT PATH: Spot will adhere closely to the recorded mission route, keeping the center of its body within a 25 cm corridor along the recorded path.
Page 96: Record 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 97: Add An Action During Autowalk Recording
Select FINISH RECORDING, then select YES. The mission is stored on the tablet. NOTICE To allow Spot to start and end the mission at a Spot Dock, end the recording with a docking action as described in Dock and undock in manual mode.
Page 98 Action was recorded, another 2-second timer will appear before the Action is deleted. Release ↶ Undo to finalize the process. Spot will position itself at the closest waypoint in the mission map. All path segments that were added to the current recording past that point will be deleted.
Page 99: Extend An Autowalk Mission
Select EXTEND MISSION. When prompted, select EXTEND MISSION. Drive Spot and perform Actions. Select FINISH RECORDING, then select YES. The extension is added to the mission and the replay ends.
Page 100: 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 101: Schedule Autowalk Mission Replays
Enter the date and time when the mission will begin. If the mission is configured to loop, enter an end time or select Play forever. Select SCHEDULE. A countdown to the next scheduled mission start appears. At the scheduled time, Spot carries out the mission. © 2024...
Page 102: Configure Autowalk Mission Replay Options
Select YES to exit Autowalk mode. 5.9.3. Configure Autowalk mission replay options Mission replay options modify Spot’s behavior as it carries out an Autowalk mission. Options are configured on the tablet at the time playback is initiated. 5.9.3.1. Mission route settings Autowalk mission route preview.
Page 103: Mission Replay Options
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 dock to the dock automatically to recharge before finishing the mission. © 2024...
Page 104 Prompt Timeout See also: Mission prompts and Operator intervention When a prompt times out, Spot will attempt navigation again until it either Automatic Retries succeeds or reaches the specified retry limit. Navigation failure When there are no more retries, Spot will perform the specified operation.
Page 105: Autowalk Replay Supervision
Operator intervention). 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 Operational stop.
Page 106: Mission Prompts And Operator Intervention
If Spot’s motors are running, select POWER OFF. Select a supervision setting. 5.9.5. Mission prompts and Operator intervention Spot may prompt you for input during automatic operation, for instance to respond to a navigation challenge which is preventing it from progressing in a mission. © 2024...
Page 107: Navigate Stairs
Use of the machine 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 Configure Autowalk mission replay options.
Page 108 When manually controlling Spot on stairs or recording an Autowalk mission that includes stairs, follow these guidelines: 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 109: Recover 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 110: Create A Log Entry
If you suspect Spot is damaged, cease operation immediately and contact Boston Dynamics support. 5.12. Create a log entry If you experience unexpected behavior from Spot, an attachment, or related software, you can create a log entry to help Boston Dynamics Support diagnose and address the issue. Log type Description Generates a log entry including the previous 30 seconds of operational data.
Page 111: Recommended Practices During Spot Operation
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 112: 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 113: 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 114 Requires the camera calibration panel that is shipped with Spot. CAUTION Poor calibration of Spot's joints and/or cameras increases the likelihood of falls, collisions, and other hazards. Run SpotCheck diagnostics promptly when calibration issues are indicated, and on the preventive schedule recommended by Boston Dynamics.
Page 115: Joint Calibration And Camera Check
This process takes 2 to 3 minutes. To recalibrate Spot's leg joints and identify potential calibration issues with Spot's body cameras: Start with Spot in the Sit pose.
Page 116: Revert To Previous Joint Calibration
To allow you to revert an incorrect calibration, Spot stores the previous joint calibration as a backup. To revert Spot to the previous joint calibration: On the tablet controller, navigate to Menu ≡...
Page 117: Camera Calibration
No bright lights, including overhead lights and windows with direct or bright indirect sunlight. Camera calibration requires the calibration panel that is shipped with Spot. The calibration panel is a flat board approximately 118.5 cm x 50 cm that shows a set of 18 fiducials spaced evenly on a black background and a pair of arrows labeled "Up".
Page 118: Spotcheck With Spot Arm
Safe handling. Position Spot in the Stand pose about 1 meter in front of the panel, with the rear body camera directly facing the panel. On the tablet controller, navigate to Menu ≡ > UTILITIES > SPOTCHECK.
Page 119 Maintenance CAUTION During SpotCheck, the arm will fully extend above and to the front and side of Spot. Ensure 2 meters of clearance around and above the robot before beginning this process. NOTICE SpotCheck does not check or recalibrate the gripper camera.
Page 120: Declarations And Marking
04-00143531-401 higher 04-00143531-601 04-00143531-611 For a full description of intended use and limitations, see Intended use. For a full description of scope and validity of the conditions when Spot is assembled with attachments, Integrate attachments. © 2024 Boston Dynamics, Inc.
Page 121: Labels
Jan 9, 2024 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 122: 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 2.10.2.1 Spot Power Supply https://support.bostondynamics.com/s/spot-product- Information for Use safety 4.3.3 2.10.2.1 4.3.3 Spot Dock Information for https://support.bostondynamics.com/s/spot-product-...
Page 123 Editing-Autowalk-missions 5.9.3 5.8.4 Creating robust Autowalk https://support.bostondynamics.com/s/article/ 5.8.5 missions Creating-a-robust-Autowalk-mission-framework 5.9.3 https://support.bostondynamics.com/s/article/Spot- Spot robot logs 5.12 robot-logging 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 © 2024 Boston Dynamics, Inc.

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