Boston Acoustics SPOT Manuale utente
Spot® Instructions for Use
Safety and Operations Manual
Version 2.1.1 Original Instructions
January 2024
Table of Contents
1. Introduction ................................................................................................................... 7
1.1. About this document ............................................................................................ 7
1.2. Manufacturer information .................................................................................... 7
1.3. Key terminology .................................................................................................... 8
1.3.1. Legend of hazard labels .............................................................................. 9
1.3.2. Spot anatomy ............................................................................................ 10
1.4. Spot specications ................................................................................................ 11
2. Product safety overview ............................................................................................ 13
2.1. General principles ................................................................................................ 13
2.2. Intended use ....................................................................................................... 13
2.3. Modes of operation ............................................................................................. 14
2.4. Locomotion primitives: gaits and specialized modes ....................................... 15
2.4.1. Walk (“trot”) ............................................................................................... 15
2.4.2. Crawl ......................................................................................................... 15
2.4.3. Quick-step slip prevention ....................................................................... 15
2.4.4. Stair mode ................................................................................................ 15
2.5. Stopping functions .............................................................................................. 16
2.5.1. Operational stop ........................................................................................ 16
2.5.2. Safety-related stop .................................................................................... 16
2.5.2.1. Stopping distance ........................................................................... 18
2.5.3. Emergency stop (E-Stop) ......................................................................... 18
2.6. Velocity limitation ............................................................................................... 19
2.7. Obstacle avoidance ............................................................................................ 20
2.8. Auditory and visual (A/V) warning system ......................................................... 21
2.8.1. Indicators ................................................................................................... 21
2.8.2. Buzzer ...................................................................................................... 22
2.8.3. Speaker .................................................................................................... 22
2.8.4. Warning system light and sound patterns ............................................ 22
2.9. Restrictions on the environment ...................................................................... 25
2.9.1. Environmental conditions ....................................................................... 25
2.9.2. Navigational conditions .......................................................................... 27
2.10. Risk assessment ................................................................................................ 27
2.10.1. Before starting a risk assessment .......................................................... 28
2.10.2. Electrical hazards ................................................................................... 29
2.10.2.1. Charging equipment ................................................................... 29
2.10.3. Hazards due to non-ionizing radiation .................................................. 30
2.10.3.1. EM radiation considerations ........................................................ 30
2.10.3.2. Radio Frequencies (RF) ............................................................... 30
2.10.3.3. Laser ............................................................................................. 30
2.10.3.4. Bright lights .................................................................................. 31
2.10.4. Noise ........................................................................................................ 31
2.10.5. Fire, explosion and hazardous materials ............................................... 32
2.10.6. Unintended contacts and other hazards related to locomotion ......... 32
2.10.6.1. Accidental impacts during normal locomotion on at, non-
elevated grounds ...................................................................................... 33
2.10.6.2. Loss of stability and falls .............................................................. 35
© 2024 Boston Dynamics, Inc. 3
2.10.6.3. Hazards associated with stopping or other powerless
motion ...................................................................................................... 36
2.10.7. Pinch points during motion .................................................................. 37
2.11. General warnings ............................................................................................... 38
3. Transport, handling, and storage ............................................................................. 40
3.1. Transport ............................................................................................................. 40
3.1.1. Shipping case specications .................................................................... 40
3.2. Safe handling ..................................................................................................... 40
3.2.1. Pinch points ............................................................................................... 41
3.2.2. Handles ..................................................................................................... 41
3.2.3. Lifting Spot ............................................................................................... 42
3.2.4. Personal Protective Equipment (PPE) ................................................... 43
3.3. Storage ................................................................................................................ 43
3.3.1. Battery storage ......................................................................................... 43
4. Setup ........................................................................................................................... 45
4.1. Before setting up Spot ....................................................................................... 45
4.2. Integrate attachments ....................................................................................... 46
4.2.1. Analysis of attachments .......................................................................... 46
4.2.2. Attachment mount points and dimensions .......................................... 49
4.2.3. Mount attachments ................................................................................ 52
4.2.4. Congure attachments .......................................................................... 53
4.3. Battery setup and charging .............................................................................. 53
4.3.1. Insert the battery ..................................................................................... 54
4.3.2. Remove the battery ................................................................................ 55
4.3.3. Charge the battery .................................................................................. 55
4.4. Spot Dock setup ................................................................................................ 58
4.5. Spot system settings .......................................................................................... 58
4.5.1. Log in to the Admin Console ................................................................... 59
4.6. Network conguration ...................................................................................... 60
4.6.1. Default network conguration ................................................................ 60
4.6.2. Change Spot's network conguration .................................................... 61
4.7. Spot software updates ........................................................................................ 61
4.7.1. Update Spot robot software .................................................................... 62
4.7.2. Update Spot tablet controller software .................................................. 62
5. Use of the machine .................................................................................................... 64
5.1. Controls and interfaces on Spot ......................................................................... 64
5.1.1. Power and motor status lights ................................................................. 64
5.1.2. Robot status lights ................................................................................... 65
5.2. Remote controllers ............................................................................................. 67
5.2.1. Spot tablet controller ............................................................................... 67
5.2.2. Connect the tablet controller to Spot ..................................................... 68
5.2.3. Enable AutoReturn to recover from loss of connection to the
controller ........................................................................................................... 69
5.3. Start Spot ............................................................................................................ 70
5.3.1. Power on Spot’s computers ...................................................................... 71
5.3.2. Reset the motor lockout ......................................................................... 72
5.3.3. Start Spot’s motors .................................................................................. 72
© 2024 Boston Dynamics, Inc. 4
5.4. Stop Spot ............................................................................................................ 73
5.4.1. Manual stop using the tablet controller ................................................. 73
5.4.2. Restarting after a stop using the tablet controller ................................ 75
5.5. Change Spot’s mode of operation ..................................................................... 76
5.5.1. Switch to automatic mode ...................................................................... 76
5.5.2. Switch to manual mode .......................................................................... 77
5.6. A/V warning system settings ............................................................................. 77
5.7. Dock and undock Spot ...................................................................................... 79
5.7.1. Dock and undock in manual mode ........................................................ 80
5.7.2. Dock and undock during Autowalk missions ......................................... 81
5.8. Drive Spot with remote control ......................................................................... 82
5.8.1. Tablet controls (Menu bar) ....................................................................... 82
5.8.1.1. Main Menu ...................................................................................... 83
5.8.1.2. Modes dropdown .......................................................................... 85
5.8.1.3. Cameras dropdown ....................................................................... 86
5.8.1.4. Controls dropdown ....................................................................... 87
5.8.1.5. Motor status panel ......................................................................... 88
5.8.1.6. Perception status panel ................................................................ 89
5.8.1.7. Platform status panel ..................................................................... 91
5.8.1.8. Comms status panel ..................................................................... 92
5.8.1.9. Battery status panel ...................................................................... 93
5.8.2. Tablet controls (Drive mode) .................................................................. 94
5.8.3. Tablet controls (Autowalk mode) ........................................................... 95
5.8.4. Record an Autowalk mission .................................................................. 96
5.8.4.1. Add an Action during Autowalk recording .................................. 97
5.8.4.2. Undo during Autowalk recording ................................................ 97
5.8.5. Extend an Autowalk mission .................................................................. 99
5.8.5.1. Add an Action to a previously recorded Autowalk mission ......... 99
5.9. Automatic operation ........................................................................................ 100
5.9.1. Replay an Autowalk mission .................................................................. 100
5.9.2. Schedule Autowalk mission replays ...................................................... 101
5.9.3. Congure Autowalk mission replay options ......................................... 102
5.9.3.1. Mission route settings .................................................................. 102
5.9.3.2. Mission replay options ................................................................. 103
5.9.4. Autowalk replay supervision .................................................................. 105
5.9.5. Mission prompts and Operator intervention ........................................ 106
5.10. Navigate stairs .................................................................................................. 107
5.11. Recover from a fall ............................................................................................ 109
5.12. Create a log entry ............................................................................................. 110
5.13. Turn off Spot ..................................................................................................... 110
5.14. Recommended practices during Spot operation ........................................... 111
6. Maintenance ............................................................................................................... 112
6.1. Service and repair ............................................................................................... 112
6.2. Clean and maintain Spot ................................................................................... 112
6.2.1. Exterior cleaning ...................................................................................... 112
6.2.2. Preventive maintenance ......................................................................... 113
6.3. SpotCheck (joint and camera calibration) ........................................................ 113
6.3.1. Joint calibration and camera check ........................................................ 115
6.3.1.1. Revert to previous joint calibration ................................................ 116
© 2024 Boston Dynamics, Inc. 5
6.3.2. Camera calibration .................................................................................. 117
6.3.3. SpotCheck with Spot Arm ..................................................................... 118
7. Declarations and marking ....................................................................................... 120
7.1. EU Declaration of Conformity ............................................................................ 120
7.2. Labels .................................................................................................................. 121
8. Appendix A: Supplemental information ................................................................. 122
© 2024 Boston Dynamics, Inc. 6
1. Introduction
1.1. About this document
This document contains critical safety information for the Spot robot.
Responsible use of Spot is crucial to prevent dangerous conditions for those in close proximity to Spot.
Read, understand, and comply with this document before initial use of Spot to decrease the risk of
injuries or damage to yourself, Spot, or other property.
Boston Dynamics performed a risk assessment and derived the Instructions about residual risks based
on the reasonably foreseeable use of Spot within its declared intended uses and in conditions subject
to limitations. We recommend that you complete your own risk assessment concerning the integration
and commissioning of Spot in your particular environment and conditions. Any deviation from the
intended uses of Spot and the conditions in which Boston Dynamics estimated and evaluated risks (see
Risk assessment) could be addressed by supplemental actions to further reduce application-specic
residual risks.
Keep a copy of this document in a readily accessible location. Complete user and developer
documentation on the Spot robot platform, including a digital version of this document, is available
online in the Boston Dynamics Support Center (see Appendix A: Supplemental information).
This document is valid for the following designations of Spot:
Hardware
Model (P/N):
04-00143531-001
04-00143531-401
04-00143531-601
04-00143531-611
Software v3.3.2
1.2. Manufacturer information
Spot is manufactured by:
Boston Dynamics, Inc.
200 Smith St.
Waltham, MA 02451
USA
+1 617-868-5600
Introduction
© 2024 Boston Dynamics, Inc. 7
1.3. Key terminology
Term Denition
Spot
A legged robot capable of mobility on a variety of terrains. Spot uses multiple
sensors and three motors in each leg to navigate in indoor and outdoor
environments, maintain balance and attain postures. Spot is capable of carrying
and powering attachments.
Operator
Any person trained and authorized to manually operate, repair, handle, or supervise
the automatic operation of Spot. This denition corresponds to the terms
“Qualied person” and “Authorized person” as dened in ISO/TR 22053:2021,
Clause 3.4.
Bystander
Any person who can be reasonably expected to be near Spot, but is not an
Operator. This denition corresponds to the term “Affected person” as dened in
ANSI B11.0-2020, Clause 3.4.
Task An activity performed by a person, including manual operation of Spot.
Operation An activity performed by Spot, whether as a result of manual or automatic
operation.
Mission
A set of instructions and map data that allows Spot to navigate automatically
along a known route while performing data capture actions and other operations.
The features that allow Spot to record and replay missions are collectively called
“Autowalk”.
Action
A predened operation that can be performed during a mission. The Spot software
includes several preset Actions, such as capturing images from robot cameras and
docking with a Spot Dock. Custom Actions can be created using Spot’s software
development tools.
Attachment Any device or piece of hardware that is afxed to Spot to enhance or expand Spot’s
functionality. Attachments for Spot are commonly called “payloads”.
Fiducials
Specially designed images similar to QR codes
that Spot uses to match its internal map to the
world around it. Fiducials are required at the
beginning of every mission.
Spot recognizes AprilTag ducials that meet the
following requirements:
•AprilTags in the Tag36h11 set.
•The default Image size: 146 mm square.
•Printed on white non-glossy U.S. letter-size
sheets (preferably rigid).
Introduction
© 2024 Boston Dynamics, Inc. 8
1.3.1. Legend of hazard labels
DANGER
Indicates a hazardous situation which, if not avoided, will result in death or serious
injury.
WARNING
Indicates a hazardous situation which, if not avoided, could result in death or
serious injury.
CAUTION
Indicates a hazardous situation which, if not avoided, could result in minor or
moderate injury.
NOTICE
Indicates information considered important, but not hazard related.
REQUIRED READING
Indicates a mandatory reading of Instructions for Use or other safety-related
documentation.
Introduction
© 2024 Boston Dynamics, Inc. 9
1.3.2. Spot anatomy
Spot in the "stand" pose.
Spot in the "sit" pose. The body and all four feet rest on the ground.
Introduction
© 2024 Boston Dynamics, Inc. 10
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