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PDF Content Summary: SPOT USER GUIDE RELEASE 2.0 VERSION A R 2.0 V A R 2.0 V A
R 2.0 V A INTRODUCING SPOT 1 HELLO 1 SYSTEM CONTENTS 2 BODY 3 BUTTONS & PORTS 5 POWER & MOTOR LIGHTS 6 STATUS LIGHTS 7 CONTROLLER 8 SAFETY 9 TRAINING 9 SAFETY DISTANCE 9 SAFETY IN HANDLING 12 BATTERY SAFETY 13 BYSTANDER SAFETY 13 HANDLING SPOT 14 MOTOR LOCKOUT 14 HANDLES 14 LIFTING SPOT 15 PLACING SPOT IN CASE 15 ROLLING SPOT 16 SETUP 18 BATTERY POWER 18 R 2.0 V A OPERATION 21 TURNING ON SPOT 23 CONNECTING THE CONTROLLER 23 STOPPING THE ROBOT 24 TURNING ON MOTORS 24 SELF-RIGHT 25 SIT & STAND 25 WALKING SPOT 29 TUNABLE PERCEPTION 31 TUNABLE PLATFORM SETTINGS 32 NAVIGATING STAIRS 33 TELEOPERATION 34 AUTOWALK 35 MISSIONS 35 NAVIGATION 35 FIDUCIALS 35 WAYPOINTS 36 ACTIONS 36 AUTOWALK SETUP 37 PLACING FIDUCIALS 37 RECORDING A MISSION 37 REPLAYING A MISSION 39 TROUBLESHOOTING 40 R 2.0 V A SERVICE & REPAIR 42 TURNING SPOT OFF 42 SHIPPING 42 TROUBLESHOOTING 43 CONTACT SUPPORT 43 COMPLIANCE 44 SPOT SYSTEM 44 SPOT ROBOT 45 SPOT BATTERY 46 SPOT CHARGER 46 SPECIFICATIONS 47 LEGENDWARNING: Indicates a hazardous situation which, if not avoided, could result in death or serious injury. Such situation could also result in significant damage to the robot or property. NOTE: Addresses practices not related to safety, including tips to maximize perfor- mance and prevent damage to the robot
R 2.0 V A
1R 2.0 V A HELLO It’s time to change the world’s idea of what robots can do. Let’s get started.
We’ve built the world’s most advanced four-legged robot. Spot is small enough to navigate human environments, but nimble enough to traverse nearly any terrain. Spot dynamically balances, but is easy to control. As Spot takes its first steps out of the lab, it represents a giant leap toward a future of general-purpose robotics. Robotics is a team sport. Boston Dynamics has built the platform – and it’s up to you to put it to work. With this user guide, a growing list of payloads, evolving software capabilities, and accessible development kits, you have the tools to leverage this technology to its fullest. 2R 2.0 V A • Spot Robot • Battery (x2) • Charger • Controller SYSTEM CONTENTS
3R 2.0 V A BODY BODY LOWER LEG FOOT THREE-QUARTER VIEW BACK HIP TOP BOTTOM UPPER LEG KNEE FRONT 4R 2.0 V A PAYLOAD PORT (x2) STEREO CAMERA (x5) THREE-QUARTER VIEW STATUS LIGHT (x2) MOUNTING RAIL (x2)
HANDLE (x4) 5R 2.0 V A BUTTONS PORTS & STATE OF CHARGE (SOC) BUTTON Shows the battery charge level; located on the battery POWER BUTTON BACK VIEW BOTTOM VIEW POWER PORT & COVER MOTOR LOCKOUT BUTTON ETHERNET PORT & CAP
6R 2.0 V A POWER & MOTOR LIGHTS POWER AND MOTOR LIGHTS BACK VIEW POWER BUTTON LOCKOUT BUTTON LOCKOUT BUTTON NO LIGHTS: Robot and motors off (lockout engaged) BLUE LIGHT: Computers on, motors off (lockout engaged) QUICKLY FLASHING RED LIGHT: Motors turning on SOLID RED LIGHT: Motors on - stay at least 2m away ROBOT STATUS ROBOT STATUS ROBOT STATUS
SLOWLY FLASHING RED LIGHT: Motors available but not powered 7R 2.0 V A STATUS LIGHTS POWER MOTORS ERRORSMoving rainbow: Powered on, ready to connect Solid rainbow: Plugged in, no battery Rainbow dots: Charging, dots show % charge Solid blue: Lockout button engaged; Spot is safe to handle Slow blink green: Spot connected; motors may turn on Fast blink green: Motors turning on! Solid green: Motors on Blinking orange: Serious error or perception fault has occurred; operation degraded Yellow: System booting up
8R 2.0 V A CONTROLLER ACTION MENU Controls how Spot moves LEFT JOYSTICK Moves Spot manually RIGHT JOYSTICK Moves Spot manually RIGHT JOYSTICK Moves Spot manually Spot’s controller has two operating modes. Change between the modes in the settings menu. Standard Mode: Provides easy-to-use control for most situations. Spot is controlled by an android app running on a tablet. The Spot System includes an Android gaming tablet with physical buttons for easy robot control. D-PAD (Directional buttons) Controls camera view SETTINGS MENU Demo Mode: Enables demonstration gaits and adds additional button controls to make it easy to switch modes. MODE BUTTONS Shortcuts to control Spot’s motion
STOP STATUS BAR Cuts motor power OPERATING MODES
9R 2.0 V A TRAINING It is the operator’s responsibility to ensure that bystanders are trained in safe behavior around Spot, and that the operation of Spot does not put anyone at risk. SAFETY DISTANCE Spot may sometimes move unpredictably or fall. Only use Spot in areas where a fall or collision will not result in an unacceptable risk. Spot may sometimes move unpredictably or fall. Only use Spot in areas where a fall or collision will not result in an unacceptable risk. Proper training: Do not use Spot without reading this user guide and understanding safe operation of the robot. Responsible use of Spot is crucial to prevent dangerous conditions for operators and others nearby. Make sure to read, understand and comply with this user guide to lessen the risk of serious injury, death, or robot and other property damage. Spot is not suitable for tasks that require operation in close proximity to people. People must stay a safe distance (at least 2m) from Spot during operation to avoid injury. Injuries may be caused by collisions, Spot falling or tipping onto people, or contact with Spot’s pinch points. Spot is suitable for areas where access is limited to trained personnel. Keep untrained people away from Spot during operation to avoid injury. 10R 2.0 V A COLLISIONS • Do not operate Spot within 2m of delicate equipment or other property that may be damaged by the robot. Operators and anyone nearby should assume that Spot may move unexpectedly at any time. FALLS Never stand below Spot on stairways, elevated platforms, or inclines. For example, if Spot is at the top of a stairway, stay at least 2m away from the stairway bottom or any open areas on the side of the stairway and remain vigilant at all times to avoid a falling Spot. If Spot falls from an elevated position, it can cause serious injury or death. Never stand below Spot on stairways, elevated platforms, or inclines. For example, if Spot is at the top of a stairway, stay at least 2m away from the stairway bottom or any open areas on the side of the stairway and remain vigilant at all times to avoid a falling Spot. If Spot falls from an elevated position, it can cause serious injury or death. Spot can collide with people or objects, even with its obstacle detection system enabled. • People around Spot should keep a safe distance of at least 2m from the robot while it is operating on level ground. Do not stand between Spot and a wall or other fixed object if this could violate the 2m safety perimeter. 2m Spot may sometimes fall. Falls can damage Spot or the surrounding environment and injure operators and bystanders. Keep a safe distance of at least 2m from Spot while it is operating. Never stand below Spot on stairways, elevated platforms, or inclines. For example, if Spot is at the top of a stairway, stay at least 2m away from the stairway bottom or any open areas on the side of the stairway and remain vigilant at all times to avoid a falling Spot. If Spot falls from an elevated position, it can cause serious injury or death.
R 2.0 V A 11 The following conditions may cause Spot to fall: Stairs or inclines If Spot loses balance on the stairs or an incline, it may slip and fall. Holes, elevated grounds, or cliffs Spot has difficulty walking, and may fall, on slippery surfaces. This includes surfaces made slippery by sand, dust, and liquids, for example. Spot cannot detect when its legs are entangled in cords, which may cause it to trip and fall. The entagled cord and anything connected to it may also be damaged. Spot may not automatically avoid unstable objects that are fully or partially less than 30 cm above the ground, such as human feet and backpacks, and may fall upon stepping on such objects. Transparent, mirrored, or very bright obstacles Moving surfaces Spot cannot detect cliff edges and may walk off cliff edges that are unblocked. Block cliff edges with secure guardrails or safety netting. Never work below an elevated Spot. Signal loss If Spot loses its wireless connection to the controller, it will sit after 3 seconds, and the motors will shut off after 8 seconds. If this occurs on stairs, slope, or other uneven surface, Spot may slide or fall upon attempting to sit. Slippery surfaces Cords Unstable objects shorter than 30 cm These can confuse Spot’s obstacle detection system. Spot can become unstable on moving surfaces, such as elevators, escalators, moving walkways and ramps, vehicles, or boats. Put robot in lockout mode when transporting on moving platform.
R 2.0 V A 12 SAFETY HANDLING IN ACTIVE MOTORS Fingers may break or get amputated if caught PINCH POINTS in joints while Spot’s motors are active. Stay at least 2m away when Spot is powered on (except Spot’s joints can pinch fingers and other body to press the lockout or power buttons). parts and entangle loose clothing, long hair, and jewelry. 1. Never touch Spot when motors are active. Stay at least 2m away at all times. Only handle Spot when the motors are locked 2. Before handling Spot, engage lockout to out (see page 14) or robot power is off. ensure motors can’t turn on. HIP JOINT Always keep hands away from hip joint, except when grabbing handles. Always make a fist when gripping handles to keep your fingers away from pinch points. KNEE JOINT Always keep hands away from knee joint. Use cau- tion when lowering Spot or closing the leg.
R 2.0 V A 13 BYSTANDER SAFETY BATTERY SAFETY The operator is responsible for ensuring that all people who may come into close proximity of Spot are aware of robot hazards and receive Spot safety training. Spot is powered by a removable lithium ion battery pack. To reduce the risk of fire or electric shock: • Keep at least 2m away from Spot and avoid the robot’s path. • Only use the Spot battery, provided by Boston • It can be difficult to predict which way Spot Dynamics. will move next. • Only charge battery with provided Boston • Anyone passing Spot during autonomous Dynamics charger. patrol should avoid its path and maintain a 2m • Don’t short-circuit, burn, disassemble, distance between Spot at all times. submerge, puncture, crush, drop, or • Do not stand between Spot and wall if this damage battery. could violate the 2m or greater acceptable • If battery fire starts, don’t try to put it safety parameter. out. Evacuate to a safe area and call fire • Never stand downhill or otherwise department. Battery fires create toxic fumes below Spot. and cannot be put out with conventional fire extinguishers or water. • Store at -30 to 25C (-22 to 77F). Charge at 0 to 40C (32 to 104F). Operate at -20 to 45C (-4 to 113F). • Spot operators should develop a battery storage and charging safety policy consistent with industry standards and local regulations. • Remove battery from robot during transportation or storage. 2m 14R 2.0 V A It will be necessary to handle Spot when packing or unpacking for transport, replacing the battery, or righting Spot when it falls and is unable to self-right. • Only move joints with motors in lockout mode or while Spot is powered off. • Be careful to avoid pinch points MOTOR LOCKOUT The lockout button mechanically disconnects the motor power and can only be activated by manually pressing the lockout button. Software cannot turn on the motors while the lockout is engaged. To handle Spot safely, the robot must be placed in lockout mode. To enable lockout: 1. Turn motor power off with the controller. 2. Push the lockout button. 3. Confirm red light is off. HANDLES Spot has a handle at each hip joint. Use these to lift, carry, and roll the robot. When using the han- dles, always make a fist with each hand. CAUTION: Never handle Spot unless motor lockout is engaged. • Don’t attempt to lift or move Spot while it is standing. RED LIGHT OFF: Motor lockout engaged. RED LIGHT ON: Motor not locked out; see all states for this button in Lights section on page 6. CAUTION: To avoid pinch points, never carry Spot with fingers extended. R 2.0 V A 15 Spot is heavy (32 kg/70.5 lbs) and can be awkward to carry, particularly with attached payloads. Grab the handles and maintain safe lifting precautions. Always use two people to lift Spot, one at the front and one at the rear. Remove battery from Spot. With two people, lift Spot by the handles and carefully lower into case.
PLACING SPOT IN CASE LIFTING SPOT
16R 2.0 V A ROLLING SPOT ONTO ITS BACK 4. Close fists to avoid pinch points. CAUTION: Always use Spot’s handles when rolling the robot. Motors must be in lockout mode. 5. Lifting handles, roll 5. Lifting handles, roll Spot closer while moving backward. Spot closer while moving backward. 6. Keep hands in a 6. Keep hands in a 6. Keep hands in a fist as Spot rolls. fist as Spot rolls. fist as Spot rolls. 1. Stand to one side of Spot. Make sure motors are locked out. ROLLING SPOT 2. Ensure that there’s empty space to the other side. 3. Grab farthest front and 3. Grab farthest front and rear hip handles. rear hip handles. R 2.0 V A 17 4. Close fists to avoid pinch points. 5. Lifting handles, roll Spot 5. Lifting handles, roll Spot closer and move backward. closer and move backward. 6. Keep hands in a fist 6. Keep hands in a fist 6. Keep hands in a fist as Spot rolls. as Spot rolls. as Spot rolls. Spot can self-right on flat surfaces. Whenever possible, use the automated self-right procedure described on page 26. ROLLING SPOT INTO AN UPRIGHT POSITION CAUTION: Always use Spot’s handles when rolling the robot. Motors must be in lockout mode. 1. Stand to one side of Spot. Make sure motors are locked out. 2. Ensure that there’s empty space to the other side. 3. Grab farthest front and 3. Grab farthest front and rear hip handles. rear hip handles.
18R 2.0 V A DETERMINING THE BATTERY LEVEL The SOC button on the battery illuminates LEDs to show the battery level (state of charge). Spot’s controller shows the battery level in the Boston Dynamics app. The battery icon is in the info bar at the top of the screen. BATTERY POWER Spot is powered by a removable lithium-ion battery pack. The battery can be charged stand- alone or while inside the robot. NOTE: Before inserting battery, document CAUTION: To reduce the risk of electric shock and fire: the information on robot label in battery compartment by taking a photo or re- cording the information. This information is • Only use Boston Dynamics approved needed to connect Spot to network. charger • Use properly grounded outlet. Do not use ground adapters or replace plug. • Do not touch uninsulated parts of output connector or battery terminals. • Do not open or disassemble charger. • Do not use if AC cord is damaged. BATTERY LIFE Spot’s battery provides power for about 90 minutes of normal operation and about four hours in standby (sit) mode. Payloads, high activity and computation levels, and low temperatures can reduce this runtime. The battery should be removed from Spot if it will be unused for 72 hours or more. INSERTING THE BATTERY With Spot on its back, slide the battery’s non- handle side into the rear of Spot’s battery compartment; latch the handle. Ensure the battery is properly latched. 19R 2.0 V A SHORE POWER CABLE POWER CABLE BATTERY CHARGING CABLE • Power Cable: From charger to wall (AC) • Shore Power Cable: From charger to Spot • Battery Charging Cable: From charger to battery
CHARGING SYSTEM The charger comes with three cables:
R 2.0 V A 20 Charging a standalone battery NOTE: The cable only inserts one way, indicated with a white dot on the connec- tor. Make sure the white dot faces down. Don’t force the connector; inserting it at an off-angle can damage it. This is a quick way to use Spot for periods longer than a single charge. NOTE: Ensure that the power cable is in- serted. Removing the battery without this will cut power to Spot’s computers; they will shut down and may not save log or runtime data. NOTE: Ensure that the power cable is in- serted. Removing the battery without this will cut power to Spot’s computers; they will shut down and may not save log or runtime data. Use the battery charging cable to connect the charger to a standalone battery. The charger light will blink green while the battery is being charged and switch to solid green when the battery is fully charged. Charging a battery in Spot Use the shore power cable to connect the charger to the robot and charge a battery in Spot. Carefully insert the charging cable into the charging port at the back of Spot shown on page 5. The battery will begin charging regardless of whether Spot’s computers are powered on or off. The motors will not turn on while the power cable is inserted. While charging, a port on the underside of the the battery may slowly blink red for a brief period. This is normal behavior. CHARGER OPERATING ENVIRONMENT Operating temperature: 0C to 40C Input: 100-240 VAC, frequency 50/60Hz, Current 5.5A Max Charge time: Approximately 2 hours Output: 35-58.6 VDC, 7.2 A Max HOT-SWAPPING THE BATTERY Hot-swapping is a way to exchange batteries without rebooting the robot’s computers. To hot- swap: 1. Connect the shore power cable to the robot. 2. Replace the battery inside the robot with a fully charged battery 3. Remove the shore power cable. R 2.0 V A 21 OPERATING ENVIRONMENT • Stay 2m away from Spot when motors are active • Objects < 30 cm high that should not be stepped on • Objects < 30 cm high that should not be stepped on • Thin objects < 3 cm • Glass or clear objects WARNING: It’s the operator’s responsibility to only use Spot in a safe environment. These guidelines are for reference only. They don’t describe every unsafe condition. If an environment or robot behavior seems unsafe: STOP.
ENVIRONMENT YES NO
Surface type • Low carpet (recommended) • Clean dry pavement • Slippery surfaces • Slippery surfaces - Wet grass • Unwaxed clean indoor floors • Ram board-covered flooring • Grass • Packed dirt and sand • Gravel - Ice • Entrapment hazards - Rebar mesh - Sideways ladders - Netting Space • Clean open space • No objects or people in proximity to Spot • Elevated platforms without proper safety barriers • Confined spaces without room for Spot to maneuver • Confined spaces without room for Spot to maneuver • Overhanging obstacles
• Moving platforms such as vehicles or elevators
R 2.0 V A 22 For conditions that may cause Spot to fall, refer to the Safety section on page XX for details on how to reduce the risk of Spot falling or colliding with people or objects. Slopes +/- 30 degrees > 30 or < - 30 degrees > 30 or < - 30 degrees Stairways Stair dimensions meeting US building code standards, typically 7” (18 cm) rise for 10-11” (25-28 cm) run • Stairways with open sides • Stairways with open sides • Stairways with people below Climate • -20C to 45C • Anything outside defined ranges • Anything outside defined ranges People All people at least 2m away from Spot • Untrained personnel onsite • Untrained personnel onsite • Children onsite RF Limited WiFi and cellular interference • Conferences, sporting events, other environments where crowds and devices may interfere with operator’s ability to control or monitor Spot • Conferences, sporting events, other environments where crowds and devices may interfere with operator’s ability to control or monitor Spot
ENVIRONMENT YES NO
• Light rain • Do not submerge robot in water • People below robot operating on elevated ground
• People on ladders or scaffolding near robot operating area • Unknown or poor communications performance
R 2.0 V A 23 TURNING ON SPOT 1. Make sure Spot: • Has charged battery • Is unplugged from power and ethernet • Power plug cover and ethernet cover are inserted • Is at least 2m away from people 2. Press and hold Power button for two seconds 3. Fans will turn on and spin loudly. Wait until fans turn off and status rainbow lights start blinking, approximately two minutes. NOTE: Power and ethernet covers can block rear camera. Ensure they are properly seated before operating. CONNECTING THE CONTROLLER Spot has built-in WiFi. It hosts its own WiFi network and can join an existing network. Default usernames and passwords for Spot’s WiFi are stored in the battery compartment. Payloads can expand Spot’s connection options. Ask your system administrator for the preferred connection options for Spot. 1. Power on controller. 2. Open Boston Dynamics application. 3. Select the appropriate network as directed by your system administrator. For most initial configurations, this is Spot’s built-in access point. To set up the network see the System Administration section on page 48. 4. Either select robot or add robot to network using “Add Robot.” 5. Enter user name and password. 6. Select “Operate.” R 2.0 V A 24 STOPPING THE ROBOT CAUTION: Emergency Stop makes robot collapse. Emergency stopping Spot on stairs is dangerous. Robot will collapse and may fall down stairs. Never stand below a robot on stairs. If Spot trips or is stopped it will fall down stairs and can injure anyone below it. 2. Announce loudly: “Power on Spot.” 3. Turn on motor power using on-screen 3. Turn on motor power using on-screen instructions in controller app. instructions in controller app. REGULAR STOP Press the controller’s B button to stop Spot. It will pause and stand in place. If Spot is seated, it will remain seated. In an emergency, use the emergency stop as described below. EMERGENCY STOP Spot’s Emergency Stop (STOP) provides a secure way to cut motor power. It takes priority over all other robot controls. When STOP is commanded, motor power is cut, causing Spot to collapse to the ground. Motors cannot be turned on until the STOP is canceled. In an emergency, use the STOP option to halt Spot immediately, unless on stairs or other such position where a collapsing Spot would cause more harm than the failure to STOP the robot. • Press controller trigger buttons and B button simultaneously. • To immediately power off all motors, select red STOP button in controller’s top right corner. Select Confirm. • Spot will collapse to the ground. • Motors cannot power on again until Emergency Stop is canceled. is canceled. AUTOMATIC STOP Spot monitors its sensors and can automatically pause movement or cut power in certain situations. Signal loss: After 3 seconds without controller communication, Spot will sit. After 8 seconds without communication, Spot will turn off its motors. Smart freeze: When Spot detects a fall it will cushion leg movement to minimize damage from the fall. TURNING ON MOTORS Before turning on motors, release lockout button. Button light will pulse red. Turn on motor power: 1. Ensure that no person is within 2m of Spot. WARNING: Losing signal on stairs could result in a fall. Use caution to ensure strong signals on stairs. R 2.0 V A 25 To self-right Spot: 5. Use controller to turn on motor power; attempt self-right maneuver again. 1. Using the controller’s action bar, press and hold “Stand” and then “Self-right.” 2. Robot will attempt to roll over by moving its legs. 3. Robot will stop moving and then sit. If Spot fails to self-right: 1. Turn off motors via controller app. Press lockout button on robot. 2. Spot’s limbs will go slack. If Spot is upright or standing, it will fall. 3. Manually move legs and body into “sit” position, avoiding hip / knee pinch points. 4. Release lockout button. Spot can sometimes end up on its back or on the ground with its legs in an unusual position. Self-righting flips Spot over and positions its legs to be ready to stand. NOTE: Do not use self-right on uneven surfaces, slippery surfaces, or near other objects. Press the Sit button to sit Spot on ground. Press the Stand button to stand Spot in place.
SELF-RIGHT SIT & STAND
R 2.0 V A 26 Spot uses its perception system to automatically avoid running into obstacles. The perception system consists of five stereo cameras with a 360o field of view and a detection range up to 4 m. To adjust how close Spot can get to an obstacle, move the Perception tab’s “Avoid distance” slider to a distance between 0.1 and 0.5 m. Larger avoidance distances may prevent Spot from traversing doorways and other confined spaces. CAUTION: Spot can collide with people or objects, even with its obstacle detection system enabled. Operators and anyone nearby should assume that Spot may move unexpectedly at any time. Only use Spot in areas where a fall or collision will not result in an unacceptable risk. CAUTION: Spot can collide with people or objects, even with its obstacle detection system enabled. Operators and anyone nearby should assume that Spot may move unexpectedly at any time. Only use Spot in areas where a fall or collision will not result in an unacceptable risk.
R 2.0 V A 27 LIMITATIONS towards the obstacle. Spot should avoid colliding with it. NOTE: When walking Spot through soft objects like curtains, tall grass, or brush, it may be useful to turn off obstacle avoidance. However, Spot will now collide with all obstacles. It is up to the opera- tor to avoid obstacles in this mode. Inadequate lighting Spot requires sufficient lighting to function properly. Even in well-lit environments, shadowy areas may be too dark for Spot to detect obstacles. Spot requires sufficient lighting to function properly. Even in well-lit environments, shadowy areas may be too dark for Spot to detect obstacles.
The following conditions can hamper the robot’s obstacle detection system, which may result in collisions:
Demo: Obstacle avoidance 1. Place sample obstacle into demonstration area. Sample should be at least 50 cm on each side, with a minimum height of 50 cm, and resting on the ground. Never use people as obstacles! Short objects Moving objects Elevated obstacles Spot may step on paint cans, buckets, and other objects shorter than 30 cm even with obstacle avoidance enabled. Spot cannot predict trajectories of moving objects. Do not operate Spot around moving objects such as vehicles, children, or pets. Spot cannot predict trajectories of moving objects. Do not operate Spot around moving objects such as vehicles, children, or pets. Do not walk Spot under ropes, tables, scaffolds, or low-hanging but elevated obstacles. These can collide with Spot or its payloads. Do not walk Spot under ropes, tables, scaffolds, or low-hanging but elevated obstacles. These can collide with Spot or its payloads. 2. Walk Spot Very thin obstacles Inadequate lighting < 3 cm in thickness. For example, ladders and tripods. Spot requires sufficient lighting to function properly. Even in well-lit environments, shadowy areas may be too dark for Spot to detect obstacles. High contrast environments Clear materials Spot’s perception system has difficulty with high contrast environments such as very black materials against very bright backgrounds. Spot cannot see transparent materials and may crash into glass doors and windows. R 2.0 V A 28 R BODY ELEVATION Y axis of left joystick moves body flat up and down L L R ROLL ROLL X axis of left joystick rolls robot’s body X axis of left joystick rolls robot’s body L L PITCH PITCH PITCH Y axis of right joystick changes robot’s pitch (body angle) Y axis of right joystick changes robot’s pitch (body angle) Y axis of right joystick changes robot’s pitch (body angle) ROLL R R R YAW YAW YAW YAW X axis of right joystick yaws nose left and right X axis of right joystick yaws nose left and right X axis of right joystick yaws nose left and right X axis of right joystick yaws nose left and right BODY POSING The controller’s joysticks can pose Spot’s body while its in stand mode. Its feet will generally remain still. However, Spot may adjust its feet to maintain balance if necessary. Z Y X YAW PITCH R 2.0 V A move forward, backward, right, and left. 4. To stop movement, release fingers Change Spot’s torso height with the controller in Pro mode. Changing height is useful for raising payload sensors to a greater height or to duck under obstacles. Spot will walk most stably when at 0 height (default). Other torso heights will degrade performance. to detect and avoid obstacles. Change Spot’s torso height with the controller in Pro mode. Changing height is useful for raising payload sensors to a greater height or to duck under obstacles. Spot will walk most stably when at 0 height (default). Other torso heights will degrade performance. to detect and avoid obstacles. Change Spot’s torso height with the controller in Pro mode. Changing height is useful for raising payload sensors to a greater height or to duck under obstacles. Spot will walk most stably when at 0 height (default). Other torso heights will degrade performance. to detect and avoid obstacles. 29 2. Use right joystick to turn Spot. This is easiest when standing behind Spot. 3. Use left joystick to move Spot’s body. It can from joysticks. Change Spot’s torso height with the controller in Pro mode. Changing height is useful for raising payload sensors to a greater height or to duck under obstacles. Spot will walk most stably when at 0 height (default). Other torso heights will degrade performance. to detect and avoid obstacles. Change Spot’s torso height with the controller in Pro mode. Changing height is useful for raising payload sensors to a greater height or to duck under obstacles. Spot will walk most stably when at 0 height (default). Other torso heights will degrade performance. to detect and avoid obstacles. Spot can walk in most places that a person can. Only walk Spot in a safe operating environments as outlined in this user guide. 1. On controller app, select Walk from action menu. If Spot is sitting, it will stand up. WALKING SPOT LEFT JOYSTICK ACTION MENU RIGHT JOYSTICK CHANGING SPEED You can change Spot’s speed by selecting options from the action bar. Beginners should stay at Slow speed. High speeds affect Spot’s ability CHANGING BODY HEIGHT STATUS BAR
R 2.0 V A 30 STANDARD CHANGING GAITS Spot has multiple locomotion gaits. Change gaits to suit operating conditions of a mission or demonstration. The controller commands Spot the same way regardless of gait. MODETo change gaits: 1. Select “Walk” on action bar. 2. Select desired gait from pop-up menu. Demo: Mobility 1. Put Spot into Stand mode. 2. Demonstrate body posing. 3. Discuss how posing body enables better sensor and arm range. 4. Put Spot into Walk mode. 5. Walk Spot around in front of audience, keeping it at least 2m away from all people. 6. Switch gaits and demonstrate to audience. GAIT CHARACTERISTICS BEST FOR Operational gaits Walk Dynamically stable movement Walking around Stairs Slows Spot’s speed and pitches robot to better see stairs while descending Climbing or de- scending stairs Amble Stable gait where one foot touches down at a time Mobility demos, less stable Crawl Three feet touch the ground at all times Walking on uneven terrain, most stable Demo gaits (less stable) Hop Raises and lowers one front and oppo- site hind foot together for five counts Mobility demos, less DEMO stable MODE Jog Raises and lowers one front and opposite hind foot together Mobility demos, less stable
R 2.0 V A 31 TUNABLE PERCEPTION Obstacle Avoidance Helps Spot maintain a minimum distance from obstacles • In normal environments, obstacle avoidance should be kept on • In certain environments (such as outdoor areas with tall grass or foliage) Spot’s performance may be improved by turning obstacle avoidance off Walk on Grated Floors Improves Spot’s performance on grated flooring • To be turned on when Spot traverses on grated flooring • May also help Spot navigate flooring that has a very repetitive pattern Ground Height Detection Helps Spot navigate over obstacles approximately 12” or less in height • In normal environments, ground height detection should be kept on • When turned off, Spot is essentially blind, navigating only by contact • In certain environments (such as outdoor areas with tall grass or foliage) Spot’s performance may be improved by turning ground height detection off Stair/ Surface Edge Avoidance Keeps Spot from navigating too close to edges • In normal environments, edge avoidance should be kept on • In certain environments (such as outdoor areas with tall grass or foliage) Spot’s performance may be improved by turning ground height detection off Plan Around Obstacles Spot allows extra margin around obstacles when using touch to go • In normal environments, edge avoidance should be kept on R 2.0 V A 32 TUNABLE PLATFORM SETTINGS Friction Adjusts Spot’s step height and speed for different surface types • The lower the setting the slippier the surface • Defaults to 0.6 • Lowering the value from default will result in slower and smaller steps • If Spot is in good, dry conditions, his maximum speed can be achieved with the highest setting Step height Controls the height of Spot’s step • Three settings: Low, Medium and High • Default setting is Medium • If perception settings are OFF, Spot is essentially blind. Increasing the step height can help Spot navigate in this situation
R 2.0 V A 33 NAVIGATING STAIRS Spot can navigate stairs: 1. Use controller to switch Spot to stairs gait. 2. Aim Spot up stairs. 3. Use left joystick to walk Spot up stairs, as if walking straight down hallway. 4. Always descend stairs with Spot in reverse. Always face Spot up the stairs. CAUTION: Don’t stand under Spot. Spot could fall, damage itself and stairs, and pose risks to others. LIMITATIONS OF STAIRWAY NAVIGATION • Use caution when operating Spot near open railings; Spot can fall through shafts. • Spot cannot climb stairs by side-stepping.
• Do not use on grated stairs, open-riser stairs, or partially transparent stairways. • Spot can only climb or descend stairs while facing up. • Do not turn Spot while on stairs. • Use caution when turning on landings. • Never stand under Spot.
R 2.0 V A 34 TELEOPERATION Teleoperation allows operation of Spot beyond line of sight by displaying images from Spot’s cameras on the controller. RANGE Spot’s teleoperation range depends on communication and network configurations. If the controller is directly paired to Spot’s WiFi access point, maximum range is typically 50 m. However, walls will affect this range, as will wireless network interference and other devices. Placing Spot and the controller on a shared wireless network or using mesh radio or LTE payloads will enable longer-range teleoperation. When Spot loses communication, it will sit down and turn off motor power. SWITCH TO TELEOPERATION MODE Press button labeled “Turn on Cameras” in top left corner; operator now sees what Spot sees in teleoperation mode. CHANGING CAMERA VIEWS Teleoperation primarily uses Spot’s forward- facing stereo cameras. Use the D-pad or on- screen arrows to view side or rear camera footage. DRIVE WITH JOYSTICKS Joysticks and other operating features still function in teleoperation mode. TOUCH TO GO Touch to go lets you drive Spot to a specified location by touching the desired position on the camera image displayed on the controller screen. • While in teleoperation mode, touch desired location on controller screen to make Spot go to location. • Spot will go to location on ground plane; uneven terrain can cause it to overshoot or undershoot. • Select X or B button to stop robot. • Touch to go functions in various camera views. Choosing a location in Spot’s rear camera will direct the robot backwards to that location. R 2.0 V A 35 ABOUT AUTOWALK Missions are recorded on Spot and are trans- ferred to the robot controller when saved. NAVIGATION NOTE: Spot recognizes fiducials of all sizes, but is calibrated to fiducials that are 146mm squares. Using fiducials that are not 146mm squares will cause Spot to perform poorly. NOTE: Spot recognizes fiducials of all sizes, but is calibrated to fiducials that are 146mm squares. Using fiducials that are not 146mm squares will cause Spot to perform poorly. Spot’s Autowalk feature enables you to record and replay autonomous behaviors with Spot. Autowalk consists of two parts: • Recording missions: Drive Spot through a route and choose actions for the robot to complete at points along the way. • Replaying missions: At the click of a button, Spot will execute the movements and actions as recorded, while adapting to minor changes in the environment. MISSIONS A mission defines Spot’s movements and loca- tion-based actions in the environment. Missions can be used to automate repetitive tasks with Spot. Spot tracks its position as it walks through the environment during mission recording. Spot will follow the same path during mission replay. If the environment changes between recording and re- play, Spot will adapt its route to avoid obstacles and attempt to complete the mission. Actions at specific locations can be added to the mission, to be executed when the mission is replayed. Spot compares data from its sensors with saved data in the recorded mission to autonomously navigate through the environment during mission replay. Mission replay relies on at least one navigation fiducial and multiple waypoints defining the robot’s path. FIDUCIALS Fiducials are 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 • In “feature desert” areas where there is not enough information for Spot’s sensors to determine its location in the environment Spot recognizes AprilTag fiducials that meet the following requirements: • AprilTags in the Tag36h11 set • Image size: 146mm square • Printed on white non-glossy US-letter size preferably rigid sheets R 2.0 V A 36 More information on AprilTags can be found at the University of Michigan April Robotics Lab: april.eecs.umich.edu/software/apriltag WAYPOINTS Spot automatically places navigation waypoints along its path during mission recording. It walks from waypoint to waypoint during mission replay. Waypoints are automatically placed: • At 2m intervals along straight paths • When either event occurs within a 0.3m path segment: • Spot turns more than 30 degrees • Spot’s elevation changes more than 0.3m • A mission action is recorded. The base Spot platform tracks visual features within 2m of the robot with its stereo cameras. If Spot is outfitted with a LIDAR, it can track features within that sensor’s range, typically over 50m. The added sensing range of LIDAR enables Spot to travel farther from features and through more dynamic environments. During mission replay, Spot calculates its position by comparing features in its current sensor data with features in the data snapshots taken at each waypoint during mission recording. Spot auto- matically compensates for deviations in its path and small changes in the environment, but large discrepancies may require operator intervention. ACTIONS Actions are triggered when Spot reaches specific locations in the environment. Image capture actions can be used to take spherical photos with the optional Spot CAM payload. These actions are useful for document- ing work progress on a jobsite and for perform- ing operator rounds and readings in industrial facilities. API callback actions are used to run third party code at specific locations in the environment. Client code can run on a Spot payload or on an external device connected to the robot over the network. API callback actions are useful for developers who are integrating custom payloads such as laser scanners or other sensors. LIMITATIONS Autowalk is designed to be used under operator supervision. Be prepared to stop mission execution at any time. CAUTION: Do not use Autowalk: • On stairs • On elevated platforms • In areas with open holes, cliffs, or fall hazards • Around people other than the operator. Autowalk is intended to be used after- hours in areas away from people. • In dynamic environments where significant change is expected between mission recording and replay. R 2.0 V A 37 AUTOWALK SETUP • Place them in a permanent location where they will persist for as long as you plan to replay the mission. • Place them in areas which are feature deserts, for example a span of over 3m of featureless white wall. distinguish it from other missions. By default, distinguish it from other missions. By default, Before using Autowalk for the first time, make sure to follow these guidelines: 1. Plan the route Spot should follow through the space and decide where you would like to record mission actions. Remove obstacles that could interfere with Spot during replay. A good mission path: • Is free of obstacles. • Is through an environment that is unlikely to change significantly between recording and replay. • Has features Spot can identify within sensing range (2m if using the base platform). 2. Place a fiducial at the mission’s starting location and anywhere on the mission route where there is not enough information for Spot to determine its position (such as long white walls). PLACING FIDUCIALS When placing fiducials, be sure to: • Place one at the mission’s starting location. • Tape fiducials flat against a vertical wall, as securely as possible. If fiducials move after recording, the mission may no longer replay. • Place them low on the wall. The top of the fiducial image should be at human knee height, 45-60cm (18-24”) above the ground. When placing fiducials, avoid the following: • Repeating the same fiducial multiple times in a single mission. Each fiducial in a mission must be unique, however the same fiducial can be used in multiple missions. • Placing fiducials in areas with inconsistent lighting. Shadowed or unevenly lit fiducials can have unreliable detections. • Placing fiducials so that they are backlit by a bright background, such as on a window. • Placing fiducials where they will be blocked, damaged, moved, or removed. NOTE: Areas with intersecting walls, cor- ners, furniture, equipment, and other visu- ally distinguishing features do not typically require a fiducial (unless the mission starts in that location). Using a LIDAR payload for navigation will reduce the number of fiducials required. RECORDING A MISSION 1. Move Spot within sight of the starting fiducial and use the robot’s platform cameras to ensure it can see the fiducial. All missions must start at a fiducial. 2. Tap the Settings menu icon and choose Autowalk > Record new mission. 3. Give the mission a meaningful name to help distinguish it from other missions. By default, R 2.0 V A 38 plus sign on the controller screen. 2. Tap Picture as the action type to add. 3. Rename the picture action as needed and tap navigate to: Internal Storage > Documents > bosdyn > autowalk. navigate to: Internal Storage > Documents > bosdyn > autowalk. 2. Select and delete the applicable folder to 2. Select and delete the applicable folder to mission names are based on the date and time of creation. 4. Tap “Start Recording” to start the recording process. From this point forward, every movement you make with Spot, and every action you add to the mission, will be recorded. The mission will be played back exactly as recorded during mission replay. CAUTION: When recording (or replaying) a mission, maintain the 2m safety distance from Spot. Not only is following closely behind the robot dangerous, but you may inadvertently block sensor data from being recorded or interfere with the robot’s sen- sors during mission playback. 5. Drive Spot on your desired route through the environment by using the controller joysticks or Touch-to-go. 6. Use the + on the controller screen to add actions to Spot’s current location. Select which action you would like to perform and (optionally) give the action an identifying name. Actions will be triggered at this location during mission replay. 7. When you reach the end of the route, stop recording and save the mission to the controller by tapping the download arrow. ADDING A PICTURE TO A MISSION If a Spot CAM payload is attached, you can add a Picture action while recording the mission to capture a 360 degree image using Spot CAM 1. During the mission recording process, tap the Create to complete the process. ADDING A CALLBACK TO A MISSION 1. During the mission recording process, tap the plus sign on the controller screen. 2. Tap Callback. 3. Rename the callback as needed and tap Create to complete the process. When the mission is replayed, the robot waits for off-robot code to perform an Answer Question RPC. This code may be running on a payload computer, such as the Spot CORE, or a remote host, such as a teleoperator’s station. For an example of how to read the callback action’s name and use the AnswerQuestion RPC, see the mission_question_answerer.py example in the Spot SDK. DELETING A MISSION While mission files are generally small in size, the list of missions to choose from can quickly become long. You can delete mission data on the controller in one of two ways, as follows. To delete a mission in the Spot app: 1. Navigate to the Playback Mission page in the 2. Tap and drag the mission you want to delete to the left. To delete mission files using the controller Files app: 1. Open the Files app on the controller and
Spot app. remove the mission from the controller.
R 2.0 V A 39 REPLAYING A MISSION Recorded missions are stored on the robot controller. You can connect a controller containing recorded missions to any Spot in your fleet and replay the mission with any of your robots. To replay a mission: CAUTION: Spot should be supervised during Autowalk mission execution. The robot operator is responsible for the safe operation of the robot whether manually driving the robot or in replaying a defined mission. The robot and its surroundings must be carefully monitored to avoid dan- gerous situations. The controller must be continuously connected to the robot during operation. SKIPPING PART OF A MISSION During mission replay, the operator may choose to skip part of a mission. This feature can be helpful when trying to run a mission where an obstacle prevents the robot from reaching a waypoint associated with a recorded action. For example: During mission replay you discover that a forklift has been parked on top of a way- point where an image capture action has been recorded. 1. Open the Settings menu on the controller and tap to select Autowalk > Replay Mission. 2. Select the mission you want to replay. 3. The mission loads into memory. Large missions may take several seconds to load. 4. Localize the robot to the start point fiducial and tap “Initialize Mission.” 5. The robot carries out the mission, following the mission route to its end point. To pause mission replay, tap the pause button. Resume by tapping the play button. MONITORING A MISSION The operator must monitor all missions by connecting the controller to the robot as an observer. This allows the operator to receive the robot’s video stream on the controller. To skip part of a mission if an obstacle is blocking a waypoint: 1. When the controller promts you to skip part of the mission, click the skip button to take manual control of the robot. 2. Walk the robot past the blocked waypoint. 3. Press “Resume” to skip the waypoint and continue the mission. R 2.0 V A 40 TROUBLESHOOTING Possible causes: The recorded mission is out- of-date. Spot declares itself lost when it detects a significant difference between its perceived location and its apparent location on the mission route. On the controller, this may look as if the mission is veering away from the intended route. Solution: Re-record the mission. Symptom: When attempting to record a new mission, the controller doesn’t offer an option to start the recording process. Solution: Be sure to save the mission on completion. Re-record the mission and finish the mission download and save process to completion. Solution: Be sure to save the mission on completion. Re-record the mission and finish the mission download and save process to completion. If you have trouble recording, saving, or replaying Autowalk missions, review the following information for solutions to common problems. The robot is stuck Symptom: Spot keeps trying unsuccessfully to find a path around an obstacle. Possible causes: Spot becomes stuck when it encounters an obstacle that it can’t navigate around in a mission. For example: a wall was constructed across the mission path after it was recorded, or a piece of equipment was moved into the path. Solution: Take control of Spot, using the controller to navigate it around the obstacle and resume or abort the mission. If the robot is manually navigated past an actionable mission item, a “Skip Part of the Mission” button appears on the controller, which must be used to circumvent inaccessible mission actions. The robot is lost Symptom: Spot declares itself lost, sits and powers down its motors, and asks the operator to intervene. The option to start recording a mission doesn’t appear on the controller Possible causes: No fiducial visible to the robot. To start recording a mission, the robot needs to localize to a fiducial as a start point reference. Solution: Localize the robot by moving it close to a fiducial. When the robot sees the fiducial, the controller will present the option to start recording. Mission recording stops suddenly Symptom: The comms icon on the controller flashes yellow or red and the robot stops. Possible causes: The robot’s connection to the controller has been lost because of network instability, weak battery, or other factors. Solution: Resolve the communications issue, recharge batteries. When trying to select a mission, no missions are offered. Symptom: When selecting a mission to play back, no missions are presented and the replay fails. Possible causes: When recording a mission, if the process is not ended by saving and downloading the mission, no mission will be presented to the operator to replay. Solution: Be sure to save the mission on completion. Re-record the mission and finish the mission download and save process to completion. R 2.0 V A 41 NOTE: Delete incomplete missions from your controller so they no longer appear in the list of missions to replay. See “Deleting a Mission” on page 42 for more information. Solution: Relocalize the robot to a fiducial on the mission. Robot fails to replay a mission Symptom: The robot starts but doesn’t complete a mission. The robot stops and sits down during replay Symptom: During mission replay, the robot stops, sits, and powers down motors. Possible causes: • The robot is lost • The robot has lost connection to the controller • The robot battery is nearly drained • The controller battery has drained. Solutions: • Relocalize the robot to a fiducial on the mission. • Recharge the controller battery using a standard micro-USB cable. • Recharge or replace the robot battery with a fully charged battery and resume or restart mission playback. • Move the controller closer to Spot. The robot stops during mission replay Symptom: The robot has lost its localization. Possible causes: Something has changed in the recorded mission environment — a fiducial was replaced, moved, or removed, for example, or the environment has changed significantly since the mission was recorded (moved equipment, new construction, etc.). Possible causes: Robots may not successfully follow a mission if the mission space has changed significantly since the mission was recorded. Solution: Clear the mission route of large obsta- cles. Re-record the mission, if necessary. Incompatible constraints error message Symptom: This error message appears on the robot controller when attempting to replay a recorded mission. Possible causes: A mission was recorded during which the robot did not have enough room to turn around backwards before traversing down a ramp or a step. The mission recording completed but on replay the error message appears. Solution: Tap “Continue” to continue the mission. Tap “Abort” to halt the mission replay. Re-record the mission, checking to make sure the robot has enough space to turn around before descending. CAUTION: Continuing the mission will cause the robot to descend steps facing forwards, increasing the risk of the robot falling. R 2.0 V A 42 TURNING SPOT OFF 1. Walk Spot to charging, storing, or transport location. Walk Spot instead of carrying it whenever possible. 2. Sit Spot. 3. Power off motors with controller. 4. Engage lockout button. 5. Power off robot by pressing and holding blue button at Spot’s rear for two seconds. 6. Select controller’s Disconnect option. 7. Take battery to charger or plug robot into power source. SHIPPING ROBOT To ship Spot, remove the battery and load Spot and the controller into the case. BATTERY The Spot Battery is considered Fully Regulated Dangerous Goods by the International Air Trans- port Association (IATA). Air shipment of any Spot Battery is subject to UN3480 - PI965, Section IA, which is covered under IATA regulations ( iata.org/). It is your responsibility to ensure compliance with these requirements when shipping any Spot battery. Always check the full regulations and carrier requirements before shipping. • The battery may be shipped by cargo aircraft only. • The shipment must be signed by a person certified in accordance with IATA Dangerous Goods Regulations.
Notable requirements include: • Batteries must be properly packed in a UN-ap- proved container, labeled, and declared ac- cording to IATA Dangerous Goods Regulations. • The battery state of charge must be =< 30% of rated capacity. • The weight limit per container is 35 kg.
R 2.0 V A 43 TROUBLESHOOTING Errors affecting Spot’s operation will be visible on the controller. Controller icons turn yellow for warnings and red when serious errors occur. The robot’s status lights will also flash orange to alert operators of any serious error. To document errors, take a screenshot of the controller screen with the error dropdown menu selected. TRY THIS FIRST The robot operator may be able to fix certain errors by turning the robot off and on again. NOTE: When the robot is cold, some functions may not work. Let Spot warm up to room temperature for an hour and then power it on. STARTUP ISSUES CONTACT SUPPORT If error persists after rebooting robot, robot needs maintenance, or other issues occur, contact robot support. Email: email@example.com Include: • Robot SN (located in battery compartment) • Issue • Repeatability of issue Robot won’t turn on Motors won’t turn on Perception won’t turn on • Press battery’s SOC button to check battery level. If charge level is one or two bars (less than 40% charged), swap battery. • Press battery’s SOC button to check battery level. If charge level is one or two bars (less than 40% charged), swap battery. • If battery is too warm (due to charging or heavy use), robot won’t turn on, even when fully charged. Swap in cool, fully charged battery. • Remove battery and put it back in. • Check if Spot‘s legs are tangled or at extreme angles, then adjust Spot to even seated position and try again. • Check if Spot‘s legs are tangled or at extreme angles, then adjust Spot to even seated position and try again. • Turn robot off and on again. • Turn robot off and on again. R 2.0 V A 44 SPOT SYSTEM CAUTION: The devices are not intended for use in residential environments and may not provide adequate protection to radio reception in such environments. Operation of these devices in a residential environ- ment could cause frequency interference. FCC Compliance Statement The devices listed comply with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) The devices may not cause harmful interference, and (2) the devices must accept any interference received, including interference that may cause undesired operation. The devices listed comply with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) The devices may not cause harmful interference, and (2) the devices must accept any interference received, including interference that may cause undesired operation. The Spot System includes the Spot robot, battery, charger, and operating control unit. FCC COMPLIANCE The devices in the system comply with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) The devices may not cause harmful interference, and (2) the devices must accept any interference received, including interference that may cause undesired operation. The Spot robot and charger have been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. The devices generate, use, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of these devices in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. SUPPLIER’S DECLARATION OF CONFORMITY (SDOC) 47 CFR § 2.1077 Compliance Information Unique Identifier Spot Robot, US Model #: 02-040236-001, Japan Model #: 02-040236-002 Contains radio module, FCC ID: 2ATBY-NMDB, Telec #210-130916 Spot Battery, Model #: 02-036845-001 Charger, Model #02-044200-001 Operating Control Unit, Model #: S192K, FCC ID: 2ARQ6-S192 Responsible Party - U.S. Contact Information Boston Dynamics Inc. 78 4th Ave. Waltham, MA 02451 Telephone: 617.868.5600 R 2.0 V A 45 SPOT ROBOT The Spot Robot is compliant with requirements under FCC Part 15B, CISPR 11 & CISPR 14. RADIO The Spot Robot contains a certified radio module with the following certification identifications: LASER The Spot robot contains 5 stereo camera systems that contain Class I laser projection system. This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition 2 (2007) and Edition 3 (2014). 2ATBY-NMDB-2 210-130916 This device complies with US FDA performance standards for laser products except for deviations pursuant to Laser Notice No. 50 dated June 24, 2007. US FDA Accession Number: 1910287-000 CAUTION: Tampering or adjustments to any of the laser components is not allowed and may result in hazardous radiation exposure. Use of controls or adjustments or performance of procedures other than those specified herein may also result in hazardous radiation exposure. CAUTION: There are no service/mainte- nance, modification, or disassembly proce- dures for the stereo module and infrared projector. The user must either notify Sys- tem Integrators or return modules before any failure analysis is performed. Do not attempt to open any portion of this laser product and the camera assembly. Invis- ible laser radiation when opened. Avoid direct exposure to beam. There are no user serviceable parts with this laser product. Modification or service of the stereo mod- ule, specifically the infrared projector, may cause the emissions to exceed Class 1. No magnifying optical elements, such as eye loupes and magnifiers, are allowed.
R 2.0 V A 46 SPOT BATTERY The Spot Battery conforms to DENAN’s technical requirement. CAUTION: Only for use in Boston Dynamics Spot Robot. Only charge with Spot Char- ger. DO NOT incinerate, disassemble, crush, SPOT CHARGER or puncture. DO NOT short circuit. Damaged battery or short circuit may cause fire. CAUTION: If the external flexible cable or cord of this transformer is damaged, it shall be replaced by the manufacturer or their DISPOSAL service agent or a similarly qualified person in order to avoid a hazard. Waste Electrical and Electronic Equipment (WEEE)This symbol means that this product must not be disposed of with household waste. It is your responsibility to bring it to a designated collection point for the recycling of waste electrical and electronic equipment. For more information, contact the local waste collection center or Boston Dynamics. CAUTION: Each battery pack includes rechargeable lithium ion cells. Lithium is a highly reactive element which reacts violent- ly when mixed with water, leading to possi- ble battery leakage, smoke, and fire. Battery packs must be handled, stored and disposed of with care to prevent physical damage to the pack and to meet the environmental requirements specified. UL Japan E487365 II The Spot Charger has passed conformance testing with a Registered Conformity Assessment Body The Spot Charger is UL60950-1 & UL62368-1 compliant. The Spot charger is for indoor use only. The Spot charger is over voltage category 2. R 2.0 V A 47 CATEGORY SPECIFICATION VALUE Field of view 360 degrees Connectivity 802.11 Wifi
Dimensions Length 1100 mm (43.3 in) Width 500 mm (19.7 in) Height (standing) 840 mm (33.1 in) Height (sitting) 191 mm (7.5 in) Net weight 32.5 kg (71.7 lbs) Degrees of freedom 12 Max speed 1.6 m/s Environment Ingress protecion IP54 Operating temperature -20C to 45C Slopes +/- 30 degrees Stairways Stairs that comply with US building code, typically with 7 in. rise for 10-11 in. run. Max step size 300 mm (11.8 in) Power Battery capacity 605 Wh Max battery voltage 58.8V Typical runtime 90 minutes Standby time 180 minutes Charger power 400W Max charge current 7A Time to charge Approximately 2 hours Battery weight 4.2 kg (9.3 lbs) Payload Max weight 14 kg (30.9 lbs) Max power per port 150W Payload ports 2 T-slot rail bolt size M5 x 1.0 Camera type Projected stereo Operating range 4 m (13 ft) Ethernet 1000Base-T R 2.0 V A © Reserved. Rights All Dynamics. Boston 2019 R 2.0 V A firstname.lastname@example.org Email HELP? NEED
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