Page 1 ® Spot Arm Safety and Operations Manual Instructions for Use Version 2.0 March 2025...
Page 2 Copyright © 2025 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 ..................7 1.3. Key Terminology ....................8 1.4. Legend of Hazard Labels ..................9 1.5. About Spot Arm ....................10 1.5.1. Description of the Machinery ..............10 1.5.2. Specifications .................... 10 1.5.2.1. Joint Specifications ................. 12 2.
Page 4 5.2. Manipulation Mode .................... 48 5.2.1. Enter and Exit Manipulation Mode ............48 5.2.2. Manual Stop Using the Tablet Controller ..........49 5.2.3. Reset Spot Arm ..................51 5.2.4. Manipulation Menu ................. 52 5.3. Grasping ......................55 5.3.1. Grasp Wizard .................... 55 5.3.2.
Page 5 5.8.3. Arm Pointing in Autowalk ............... 99 5.8.3.1. Record an Arm Pointing Action ..........100 5.9. Spot Arm Behavior During Autowalk Missions ..........103 5.9.1. Door Opening During Mission Replay ........... 103 5.9.2. Arm Pointing During Mission Replay ............ 105 6.
Page 6: Introduction
This document contains critical safety information for Spot Arm. Responsible use of Spot Arm 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 Arm to decrease the risk of injuries or damage to yourself, Spot, or other property.
Page 7: Manufacturer Information
® Spot Arm Safety and Operations Manual 1.2. Manufacturer Information Spot and Spot Arm are manufactured by: Boston Dynamics, Inc. 200 Smith St. Waltham, MA 02451 +1 617-868-5600 © 2025 Boston Dynamics, Inc. Version 2.0...
Page 8: Key Terminology
Spot environments, maintain balance and attain postures. Spot is capable of carrying and powering attachments. A manipulator with a grasping gripper mounted exclusively on Spot. Spot Arm can Spot Arm be used with and is controlled solely by Spot. Any person trained and authorized to manually operate, repair, handle, or supervise the automatic operation of Spot.
Page 9: Legend Of Hazard Labels
® Spot Arm Safety and Operations Manual Term Definition 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 fiducials that meet the...
Page 10: About Spot Arm
Safety and Operations Manual 1.5. About Spot Arm 1.5.1. Description of the Machinery Spot Arm provides general purpose manipulation capability to the base Spot robot. Types of manipulated parts and/or interactions with the environment or equipment are defined when a specific application is determined.
Page 11 ® Spot Arm Safety and Operations Manual Spot Arm (manipulator and gripper) Specification Value Combined weight 8 kg Combined length 984 mm Lift capacity (at 22°C) Up to 11 kg Continuous lift capacity at 500 mm extension (at 22°C) 5 kg Operating temperature -20°C to 45°C...
Page 12: Joint Specifications
® Spot Arm Safety and Operations Manual 1.5.2.1. Joint Specifications Spot Arm joint designations, range of motion, and length of links (in millimeters). Joint axis Description Range Max. velocity Max. torque Shoulder rotation -150°/180° 10 rad/s 90 N⋅m Shoulder pivot -180°/30° 10 rad/s 90 N⋅m Elbow pivot 0°/180°...
Page 13: Product Safety Overview
2.2. Intended Use Spot Arm is intended for general purpose manipulation, imaging, and sensing as part of professional use in either industrial or restricted or controlled environments. Spot Arm is not intended for collaborative applications involving physical interaction with humans.
Page 14: Modes Of Operation
Maintenance and troubleshooting. 2.3. Modes of Operation Spot and Spot Arm share the same controller. Spot Arm is always operated in the same mode as Spot. • Manual: Direct control of Spot and Spot Arm by displaying images from the robot’s cameras on a...
Page 15: General Safety Features
Appendix A: Supplemental Information). 2.5. Stopping Functions 2.5.1. Operational Stop in Manual Mode Spot Arm shares a controller with Spot. Any policy or command that would stop or de-energize Spot will simultaneously stop or de-energize Spot Arm. See Remote Controllers Manipulation Mode under "Manual Stop Using the Tablet Controller".
Page 16: Stopping Time And Distance
After a stop, Spot with Spot Arm is de-energized (all motors powered off). The configuration of Spot legs and Spot Arm is not predictable, as it depends on the dynamics of the stop which are greatly influenced by the pose of Spot with Spot Arm at the time of the stop.
Page 17: Manipulator Motion
Safety and Operations Manual 2.6. Manipulator Motion 2.6.1. Spot Arm Workspace The working space of Spot Arm is determined by the volume used to plan and execute a trajectory, which depends on the combination of the following factors: • Volume where the manipulator can move (maximum space of the manipulator) as determined by the range of motion of the joints.
Page 18: Manipulation Primitives: Arm Positions
In the Stowed position, the shoulder and elbow joints are fully folded. The arm is centered on top of Spot with the elbow joint toward the rear and the gripper overhanging to the front. Stowed is the default position for Spot Arm when Spot is not actively being operated for manipulation. © 2025 Boston Dynamics, Inc.
Page 19: Ready Position
Spot. The gripper is oriented toward the ground. 2.6.3. Torque Limitation The torque on each joint of Spot Arm is limited by software as indicated in Specifications. Torque is also limited mechanically by clutch mechanisms for all joints except the gripper pivot.
Page 20: Risk Assessment
Spot Arm joints and segments plus stability adjustments made by the base robot. The actual speed of the end-effector or other arm segments can be briefly higher or lower than the requested speed based on a combination of factors including: •...
Page 21: Unintended Contact And Other Hazards Related To Locomotion
Hazards from contact with Spot Arm could be determined by one or more factors specific to manipulation, including but not limited to: • An accidental direct contact of part of the human body with Spot Arm, during the correct execution of a Spot Arm planned manipulation movement. •...
Page 22: Considerations For The Severity Of Hazards
Arm and in relation to the overall kinetic energy at the moment of the contact. • The impact force may depend on both the trajectory of Spot Arm and the walking path of Spot. • The largest displacements and sweeping volumes occur around the SH0 joint.
Page 23: Considerations For The Occurrence Of Hazards
Elevation angles higher than 60° will maintain the workspace of Spot Arm very close to the footprint of Spot. • Spot with Spot Arm is not likely to reach the upper human body for elevation angles that are commonly used for moving Spot Arm with respect to the Spot footprint. 2.7.2.1.1. Additional or Unintended Conditions Alteration factors for the estimation of severity may include: •...
Page 24: Loss Of Stability And Falls
Qualified, but also affected personnel are normally familiar with other Autonomous Mobile Robots (AMRs). • Spot Arm operators are assumed to have received an initial training and are generally classified as high-skill, resulting in low occurrence of risks. Most Operators assigned to remote manipulation operations may be considered well trained.
Page 25 • When touching objects or equipment, Spot Arm may affect the overall balance of Spot with Spot Arm, which may react with large movements to compensate for external forces or for the onset of imbalance.
Page 26: Pinch Points During Manipulation
For an example configuration, refer to Stopping Time and Distance. 2.7.4. Pinch Points During Manipulation Pinch points are present around the joints. Spot Arm could become a pinch point while a person is grasping: • Spot's knees (A) and hips (B).
Page 27 (while Spot is powered off). When motors are active, there is no foreseeable use that would require access to legs and joints. When evaluating the hazards associated with Spot Arm pinch points (C - D - E - F - G), estimate the risks considering the following factors: ©...
Page 28 Some edges can be hand or palm while grabbing the joint small but not sharp. No mounting part of Spot Arm or the lacerations or cuts are entire robot body to unduly interfere expected. with balancing while Spot is powered (misuse).
Page 29: Em Radiation Considerations
Spot Arm Safety and Operations Manual WARNING Do not try to recover Spot or Spot Arm by grasping or holding up any of their parts during an apparent loss of stability. 2.8. EM Radiation Considerations Spot with Spot Arm meets the requirements for unintentional radiators according to electromagnetic compatibility (EMC) standards related to heavy industrial environments (IEC 61000-6-4) and is able to...
Page 30: General Warnings
• Do not attempt to access the gripper when motors are powered on. • Do not attempt to manually intervene to help Spot with Spot Arm balance by touching the base or the manipulator. • Make sure that there is sufficient clearance during training and setup to avoid contact with people and objects or fixtures due to unexpected movements.
Page 31: Transport, Handling, And Storage
3. Transport, Handling, and Storage 3.1. Transport Spot with Spot Arm is transported in a customized case designed exclusively for Spot with Spot Arm and its accessories. The Spot battery and charger, attachments, and other equipment are transported separately and in their own specially designed cases where applicable.
Page 32: Safe Handling
Boston Dynamics Support Center (see Appendix A: Supplemental Information). Handling Spot with Spot Arm is subject to the same safety guidelines and procedures as handling the base robot, with the addition of the following: WARNING Before lifting Spot with Spot Arm, the manipulator must be in the Stowed position.
Page 33: Personal Protective Equipment (Ppe)
3.3. Storage Spot with Spot Arm is best stored in the case or at a Spot Dock when not in use. Store Spot with Spot Arm in a dry location with temperatures between -40°C and 75°C, with relative humidity between 30% and 70%.
Page 34 ® Spot Arm Safety and Operations Manual NOTICE Always remove the battery when Spot is not in use unless Spot is connected to the Spot Power Supply or sitting on a powered Spot Dock. Batteries left in Spot while not in use will continue to discharge, even when Spot is powered off. Batteries left in a powered off robot for more than 24 hours may be damaged beyond repair.
Page 35: Setup
Safety and Operations Manual 4. Setup 4.1. Preparation To set up Spot with Spot Arm, follow the same procedures as for setting up the base Spot robot. CAUTION Before setting up or operating Spot with Spot Arm, ensure there is at least 3 meters of clearance around Spot in all directions.
Page 36 ® Spot Arm Safety and Operations Manual Ventral (underside) view of gripper head. Detailed ventral view of gripper head connector. Cross section view of lower jaw assembly. Lower jaw dorsal view showing cap. © 2025 Boston Dynamics, Inc. Version 2.0...
Page 37: Electrical Connection To The End-Effector Payload
® Spot Arm Safety and Operations Manual Lower jaw dorsal view: Payload mounting option A. Gripper head assembly ventral view: Payload mounting option B. 4.2.2. Electrical Connection to the End-Effector Payload The end-effector payload electrical connection is made through a MILL-MAX 499-10-216-10-008000 Interconnect Target Header on the underside of the end-effector, which will mate to a MILL-MAX 827-22-016-10-002101 Long Stroke Spring-Loaded connector on the payload.
Page 38: Pulse-Per-Second (Pps)
® Spot Arm Safety and Operations Manual NOTICE Devices plugged into the gripper Ethernet port should have a static IP address on the 192.168.50.x subnet. To avoid conflicts with other payloads, the final octet in the IP address should not be 2, 3, 5, 6, 7, 8, or 9.
Page 39: End-Effector Payload Grounding
® Spot Arm Safety and Operations Manual • Pin 7 – Ethernet A+ • Pin 8 – Ethernet B+ • Pin 9 – +28V Payload Power • Pin 10 – Digital Ground (DGND) • Pin 11 – Chassis Ground (CHGND) •...
Page 40: Set Up The Spot Tablet Controller Pro
The Spot Tablet Controller Pro is the combination of the Spot Tablet Controller and a specially-designed joystick housing that adds analog buttons and additional ports. These analog controls are required to drive the Spot Arm. Buttons and ports on the Spot Controller Pro.
Page 41 ® Spot Arm Safety and Operations Manual Use a Torx T6 screwdriver to remove the four screws securing the bezel to the joystick housing. Remove the bezel and set it aside. Connect the data pass-through USB-C from the joystick housing to the tablet.
Page 42 If the bezel is not installed correctly, the tablet could separate from the joystick housing, potential damaging the controller and causing a loss of control during Spot or Spot Arm operation. Do not use the Spot Tablet Controller Pro without the bezel.
Page 43: Sleep And Wake Modes
® Spot Arm Safety and Operations Manual 4.3.2. Sleep and Wake Modes A prompt to put the Spot Controller Pro into "sleep" mode. When not in use, the joystick housing enters "sleep" mode to conserve power and allow data transfer to and from the tablet.
Page 44: Data Transfer
® Spot Arm Safety and Operations Manual When prompted by the Spot App, select OK to allow the joysticks to to communicate with the app. 4.3.3. Data transfer The joystick housing on the Spot Tablet Controller Pro includes a USB-C port and an SD card slot for data transfer to and from the tablet.
Page 45 ® Spot Arm Safety and Operations Manual Open the tablet's file browser, then wake the joysticks. The SD card's volume will appear as USB storage 1 and you will be prompted to mount it. NOTICE If this prompt does not appear, try turning the tablet screen off and then back on to force the joysticks into sleep mode.
Page 46: Use Of The Machine
Analog controls and buttons on the Spot Tablet Controller Pro. The analog controls on the Spot Tablet Controller Pro can be used to drive both Spot and Spot Arm via the Spot App. Spot Arm controls are only active when the Spot App is in Manipulation Mode.
Page 47 ® Spot Arm Safety and Operations Manual Command Description Button combination Fully de-energizes Spot's and Spot Arm's motors. Cut Power LB + RB + For more information about stopping functions, refer to Manipulation Mode. Deploy Arm Moves the arm to the Ready position.
Page 48: Manipulation Mode
LB + Right joystick X Adjusts gripper roll. axis 5.2. Manipulation Mode Manipulation mode is a subset of Manual mode used to control Spot Arm. 5.2.1. Enter and Exit Manipulation Mode To enter Manipulation mode: • In the Spot App on the tablet controller, open the Modes dropdown and select MANIP.
Page 49: Manual Stop Using The Tablet Controller
To suspend robot motion while driving Spot or Spot Arm with the tablet controller, select STOP. Spot will pause and stand in place, and Spot Arm will hold its position. If Spot is seated, it will remain seated. To de-energize Spot’s and Spot Arm's motors, use either of these methods: •...
Page 50 ® Spot Arm Safety and Operations Manual Tablet controller STOP button. Tablet controller CUT POWER button. © 2025 Boston Dynamics, Inc. Version 2.0...
Page 51: Reset Spot Arm
(empty) and its actual state (holding an object), which you can correct using the gripper controls menu (see Operate Arm). Operating Spot or Spot Arm when the gripper's software state and actual state are mismatched may cause unpredictable behavior. • Stow the arm.
Page 52: Manipulation Menu
Press on the joysticks, or select ↻ Reset then Confirm Reset. 5.2.4. Manipulation Menu The Manipulation Menu is a collection of interfaces for manually controlling Spot Arm and accomplishing manipulation operations. The Manipulation Menu is only available in Manipulation mode. © 2025 Boston Dynamics, Inc.
Page 53 Safety and Operations Manual The Manipulation Menu in the Spot App. WARNING Any manipulation operation could result in sudden unintended movements of Spot and Spot Arm, depending on the environmental conditions and the object that is being manipulated. Grasp Behaviors Option...
Page 54 Drive Behaviors Option Description Robot Camera Switch the tablet view to use Spot's body cameras. Operate Arm Manually control Spot Arm. See Operate Arm. Switch the tablet view to use the gripper camera and manually control Spot Gripper Camera Arm. See Operate Arm.
Page 55: Grasping
Safety and Operations Manual 5.3. Grasping Grasping is the starting point for most manipulation tasks with Spot Arm. Grasps can be achieved through direct control of the arm and gripper, or by using semi-automatic features such as the Grasp Wizard, Pick Up Object, and Open Door.
Page 56 ® Spot Arm Safety and Operations Manual Touch-and-drag to select the object you want to grasp. Touch-and-drag to adjust the approach angle (1), gripper target (2), and gripper orientation (3), then select Next. © 2025 Boston Dynamics, Inc. Version 2.0...
Page 57 ® Spot Arm Safety and Operations Manual Adjust the Grasp location slider (A) to indicate what part of the gripper should contact the object, then slowly adjust the distance slider (B) to move the gripper closer to the target. If the Auto Grasp button (C) appears, select it to semi-automatically complete the grasp.
Page 58: Pick Up Object
WARNING Continuing manipulation with a failed or unstable grasp may result in sudden and unpredictable movements of Spot and Spot Arm. 5.3.2. Pick Up Object Use Pick Up Object to semi-automatically grasp an object so it can be moved in the environment.
Page 59 ® Spot Arm Safety and Operations Manual To semi-automatically grasp an object so it can be picked up: On the tablet controller, open the Manipulation Menu and select Pick Up Object. Touch on either camera view to select the object.
Page 60 Adjust the Grasp locationGrasp location slider (1) to indicate what part of the gripper should contact the object, then select a grasp orientation (2). Wait for Spot with Spot Arm to approach the object and attempt a grasp. © 2025 Boston Dynamics, Inc.
Page 61 Continuing manipulation with a failed or unstable grasp may result in sudden and unpredictable movements of Spot and Spot Arm. NOTICE If Spot with Spot Arm repeatedly fails to achieve a firm grasp using Pick Up Object, try the Grasp Wizard. © 2025 Boston Dynamics, Inc.
Page 62: Constrained Manipulation
For example, a drawer is constrained to slide in or out on a single axis. During constrained manipulation, Spot with Spot Arm can exert very high forces on the grasped object. Successful operation relies heavily on obtaining a good initial grasp that is aligned with the configuration shown in the Spot App.
Page 63: Twist, Turn, Pull
While it is possible to accomplish constrained manipulation operations via direct manual control of the manipulator and gripper, the preset behaviors offer a simplified set of force-limited controls and automate the coordination of Spot Arm's joints and the stability of Spot's body. Use the presets whenever possible.
Page 64 ® Spot Arm Safety and Operations Manual Open the Manipulation Menu, then select Twist, Turn, Pull. Select a constrained manipulation behavior, then select Next. For Turn Crank: Select a starting gripper position, making sure to match both the position and the orientation of the gripper (perpendicular or parallel to the plane of rotation), then select Next.
Page 65 ® Spot Arm Safety and Operations Manual Adjust the presets as needed. Setting Description BASIC: Select LOW (31.5 N), MED (63.0 N), or HIGH (80.0 N) to limit the maximum force applied. Torque ADVANCED: Drag the slider to select the maximum amount of force applied, up to 118 N.
Page 66: Carrying And Dragging
To finish constrained manipulation, reset the arm or select another behavior from the Manipulation Menu. 5.5. Carrying and Dragging Carrying and dragging involve moving an object in the environment with Spot Arm. 5.5.1. Carry Use Carry to lift and hold an object while Spot moves around.
Page 67: Drag
Spot moves in a rearward direction (including turns). Drag cannot be used to push an object, only to pull. During dragging, Spot with Spot Arm can exert very high forces on the grasped object. Successful operation relies heavily on obtaining a good initial grasp.
Page 68 Spot Arm Safety and Operations Manual CAUTION If a loss of grasp is detected while dragging, Spot Arm will freeze but Spot will continue to respond to movement commands. Spot’s obstacle avoidance capability does not extend to Spot Arm. Do not drag fragile or sensitive equipment.
Page 69: Opening Doors
To finish dragging, reset the arm or select another behavior from the Manipulation Menu. 5.6. Opening Doors Spot with Spot Arm can open many of the doors found in typical industrial facilities and other buildings. There are several ways to perform this behavior.
Page 70: Door Compatibility And Limitations
Doors unexpectedly blocked closed. • Restricted passage through doorways. NOTICE Moving object detection is disabled while Spot with Spot Arm is opening and walking through a door. For details, refer to documentation in the Boston Dynamics Support Center (see Appendix A: Supplemental Information).
Page 71: Compatible Doors
Opening damaged or malfunctioning doors may cause unexpected hazards. Do not use Spot to open a door that appears to be damaged or malfunctioning. 5.6.1.1. Compatible Doors Spot with Spot Arm can open doors that meet the following criteria: Door attribute Requirements < 70 N to push or pull open from closed...
Page 72: Approach Area Layout
180 cm on push side • No stairs within approach area on either side of door Nominal dimensions for opening doors with Spot and Spot Arm. WARNING Spot may fall if it encounters a staircase during door opening. Spot cannot navigate stairs while opening a door.
Page 73: Limitations Of Door Opening
Replaying a mission that directions. includes a one-way door may result in hazards due to unpredictable behavior of Spot Arm, or navigation failures. The gripper depth sensor is unable to detect transparent materials such as glass or clear Remove or replace the...
Page 74 ® Spot Arm Safety and Operations Manual Door attribute Limitation Remedy Pay careful attention to gripper orientation when manually executing a grasp on a door handle. • Horizontal door handles must be grasped with the lower jaw of the When manually executing a grasp on a door...
Page 75: Open Doors During Manual Operation
• Do not operate Spot in direct proximity to unsprung doors. 5.6.2. Open Doors During Manual Operation During manual operation you can command Spot with Spot Arm to open doors in two ways: • Semi-automatic (Open Door) You set the location and type of the door handle, the position of the hinge, and the swing direction.
Page 76 ® Spot Arm Safety and Operations Manual To semi-automatically approach and open a door: Drive Spot within 1.5 meters of the door. Spot should face the door straight on, in line with the middle of the doorway. Open the Manipulation Menu and select Open Door.
Page 77 ® Spot Arm Safety and Operations Manual When prompted, select the door handle or push point. NOTICE When selecting door handles or push points: • For knob or lever handles, select the center of the handle. • For push plates, select a location about 7.5 cm from the latch-side edge of the door.
Page 78: Open Grasped Door
® Spot Arm Safety and Operations Manual Choose the appropriate door settings, then select Open Door. • Hinge Side: Select the location of the hinge as it appears to Spot. • Handle Type: Select GRASP for knobs and levers. •...
Page 79 ® Spot Arm Safety and Operations Manual To manually grasp a door handle, then have Spot semi-automatically open the door: Drive Spot within 1.5 meters of the door. Spot should face the door straight on, in line with the middle of the doorway.
Page 80 ® Spot Arm Safety and Operations Manual Open the Manipulation Menu and select Open Grasped Door. Choose the appropriate door settings, then select Open Door. • Hinge Side: Select the location of the hinge as it appears to Spot. •...
Page 81: Open Doors In Autowalk
Wait until Spot has fully moved through the doorway and the success message appears. 5.6.3. Open Doors in Autowalk Spot with Spot Arm can open doors automatically during Autowalk missions if the door is included in the mission map. During recording, you provide door parameters for both sides of the door. During replay, Spot follows the mission path and can dynamically reroute through the door in either direction if needed.
Page 82 ® Spot Arm Safety and Operations Manual Drive Spot within 1.5 meters of the door. Spot should face the door straight on, in line with the middle of the doorway. Select Add Action. © 2025 Boston Dynamics, Inc. Version 2.0...
Page 83 ® Spot Arm Safety and Operations Manual On the ACTIONS tab, select Open Door. © 2025 Boston Dynamics, Inc. Version 2.0...
Page 84 ® Spot Arm Safety and Operations Manual When prompted, select the door handle or push point. NOTICE When selecting door handles or push points: • For knob or lever handles, select the center of the handle. • For push plates, select a location about 7.5 cm from the latch-side edge of the door.
Page 85 ® Spot Arm Safety and Operations Manual Choose the appropriate door settings, then select Open Door. • Hinge Side: Select the location of the hinge as it appears to Spot. • Handle Type: Select GRASP for knobs and levers. •...
Page 86 ® Spot Arm Safety and Operations Manual When prompted, select the door handle or push point for the reverse side of the door. Choose the appropriate door settings for the reverse side of the door, then select Save door settings.
Page 87 ® Spot Arm Safety and Operations Manual NOTICE • A single door can be included multiple times in a mission recording. For instance, if the route requires Spot to enter and exit an area through the same door, then two door-opening actions will be recorded.
Page 88 ® Spot Arm Safety and Operations Manual If door opening fails or is cancelled: During recording, if door opening fails or is canceled, you will see the following prompt: Ensure the door is propped or held open so that Spot can return to the side of the door it started CAUTION Always stay 2 meters away from Spot during operation.
Page 89: Operate Arm
• The Spot App switches to a split-screen view, to provide greater situational awareness of Spot and Spot Arm. • Reach is activated. Joysticks switch to driving Spot Arm (see Analog Controls and Button Combinations). © 2025 Boston Dynamics, Inc.
Page 90 ® Spot Arm Safety and Operations Manual Manual controls for operating Spot Arm. Control Description Cameras Select from available camera views. dropdown Fine-tuned controls that adjust the gripper (or Spot, depending on camera view) in small increments: • Nudge buttons Move up (˄), down (˅), left (˂), and right (˃).
Page 91: Manipulator Controls
Spot Arm while Spot stands in place. Reach and Follow When Follow is selected, the physical joysticks and buttons drive Spot Arm while Spot slowly follows the trajectory of the gripper. Speed slider Switch between three maximum speed settings (SLOW, MED, FAST. Manipulator Opens the manipulator controls menu.
Page 92: Force Limiter
5.7.1.1. Force Limiter The Force Limiter prevents Spot Arm from applying large forces to Spot's body. This reduces the chance that Spot will fall over if Spot Arm collides with an obstacle. The Force Limiter is on by default. It can be toggled on and off in the manipulator controls menu.
Page 93: Gripper Controls
Safety and Operations Manual CAUTION When the Force Limiter is disabled, contacts between Spot Arm and objects in the world may apply high forces to those objects and/or Spot's body. This may cause damage to Spot, Spot Arm, or the environment.
Page 94: Arm Pointing
Spot Arm. 5.8. Arm Pointing Arm Pointing is an action that uses Spot Arm to aim a camera or sensor at a target in Spot's environment. This behavior can be performed during manual operation or automatically as part of an Autowalk mission.
Page 95: Arm Pointing Controls And Settings
® Spot Arm Safety and Operations Manual 5.8.1. Arm Pointing Controls and Settings Arm Pointing controls and settings. Control Description Opens and closes the settings panel for the gripper camera. Settings include: • Resolution • Auto Exposure • Auto Focus CAMERA SETTINGS •...
Page 96 Release the button at any time to pause the preview. Touch-and- hold again to resume. Moving Spot or Spot Arm in any way will exit the preview and set the inspection point to the current position. © 2025 Boston Dynamics, Inc.
Page 97: Arm Pointing During Manual Operation
® Spot Arm Safety and Operations Manual Control Description Enabled by default. Allows Spot to adjust its pitch and hip height as the gripper is being positioned. Disabling limits the maximum height the gripper can reach, but ensures as little extraneous movement as Enable body possible.
Page 98 Spot Arm Safety and Operations Manual On the ACTIONS tab, select Arm Pointing. Use the joysticks and/or on-screen controls to point Spot Arm at the target and configure the image to be captured, then select CONFIGURE. © 2025 Boston Dynamics, Inc.
Page 99: Arm Pointing In Autowalk
® Spot Arm Safety and Operations Manual Tap the label below the image to switch between available sensor modes. Then select CREATE to save the image as-is, or select NEXT to add metadata to the image before saving. Add metadata tags, then select CREATE to save the image with metadata.
Page 100: Record An Arm Pointing Action
• Use Hold to Preview to check how Spot Arm will reproduce the gripper position during mission replay. CAUTION...
Page 101 Spot Arm Safety and Operations Manual On the ACTIONS tab, select Arm Pointing. Use the joysticks and/or on-screen controls to point Spot Arm at the target and configure the image to be captured, then select CONFIGURE. © 2025 Boston Dynamics, Inc.
Page 102 ® Spot Arm Safety and Operations Manual Tap the label below the image to switch between available sensor modes. Then select CREATE to save the image as-is, or select NEXT to add metadata to the image before saving. Add metadata tags, then select CREATE to save the image with metadata.
Page 103: Spot Arm Behavior During Autowalk Missions
Spot with Spot Arm will not reproduce other commands that may have been input during mission recording, such as commands to deploy, operate, or stow the arm that were not part of an action. Only the recorded actions will be performed.
Page 104 • Do not stand in or near a doorway that Spot is traversing, or attempt to pass Spot through a doorway. • Always stay 3 meters away from Spot and Spot Arm during operation. © 2025 Boston Dynamics, Inc. Version 2.0...
Page 105: Arm Pointing During Mission Replay
5.9.2. Arm Pointing During Mission Replay Spot automatically performing an Arm Pointing action during an Autowalk mission. When Spot with Spot Arm replays an Arm Pointing action during an Autowalk mission, it will: Walk to the waypoint where the action was recorded.
Page 106: Maintenance
6. Maintenance 6.1. Service and Repair Do not attempt to service or repair Spot or Spot Arm yourself. If errors or other issues persist during robot operation, Spot and Spot Arm may need attention from Boston Dynamics Support engineers. Include the following information when contacting Support: •...
Page 107: Declarations And Marking
Germany Description and Identification of the Machinery: Product and function: "Spot + Spot Arm" is a robot comprised of a mobile unit equipped with four articulated limbs for locomotion with a manipulator mounted on top, controlled by a shared controller.
Page 108 ® Spot Arm Safety and Operations Manual Harmonized Standards Used, as referred to in: EMCD: EN 61000-6-4:2007/A1:2011, EN 61000-6-2:2005/AC:2005 RED: ETSI EN 301 489-1 V2.2.1 (2019), ETSI EN 301 489-17 V3.2.2 (2020), EN 55032:2012 Other Technical Standards Used: EN ISO 12100:2010, EN 60204-1:2018, EN IEC 62133-2:2017, EN IEC 60825-1:2014/A11:2020 Boston Dynamics shall transmit relevant information about the partly completed machinery in response to a reasoned request by the national authorities.
Page 109: Appendix A: Supplemental Information
Inspection Package Package-72008 Orbit Administration and https://support.bostondynamics.com/s/article/ Settings Orbit-Administration-and-Settings-71290 https://support.bostondynamics.com/s/article/ Orbit Operator controls Orbit-Operator-Controls-71298 https://support.bostondynamics.com/s/article/ Moving object detection Moving-Object-Detection-72044 Door manipulation with https://support.bostondynamics.com/s/article/ the Spot Arm Door-Manipulation-with-the-Spot-Arm-72021 https://support.bostondynamics.com/s/article/ What Is Autowalk? What-Is-Autowalk-49934 Arm Pointing © 2025 Boston Dynamics, Inc. Version 2.0...

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