Boston Acoustics SPOT User Manual Download Page 1

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R 2.0

V A

SPOT

USER GUIDE

RELEASE 2.0 VERSION A

Summary of Contents for SPOT

Page 1: ...R 2 0 V A SPOT USER GUIDE RELEASE 2 0 VERSION A ...

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Page 3: ...ORTS 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 ...

Page 4: ...LF 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 CONTENTS ...

Page 5: ...Y 46 SPOT CHARGER 46 SPECIFICATIONS 47 CONTENTS LEGEND WARNING 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 ...

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Page 7: ...f 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 It s time to change the world s idea of what ...

Page 8: ...2 R 2 0 V A Spot Robot Battery x2 Charger Controller INTRODUCING SPOT SYSTEM CONTENTS ...

Page 9: ...3 R 2 0 V A INTRODUCING SPOT BODY THREE QUARTER VIEW FRONT TOP BOTTOM BACK BODY LOWER LEG FOOT UPPER LEG KNEE HIP ...

Page 10: ...4 R 2 0 V A INTRODUCING SPOT THREE QUARTER VIEW STATUS LIGHT x2 PAYLOAD PORT x2 STEREO CAMERA x5 MOUNTING RAIL x2 HANDLE x4 ...

Page 11: ...0 V A INTRODUCING SPOT BACK VIEW BOTTOM VIEW BUTTONS PORTS STATE OF CHARGE SOC BUTTON Shows the battery charge level located on the battery POWER BUTTON MOTOR LOCKOUT BUTTON ETHERNET PORT CAP POWER PORT COVER ...

Page 12: ...ckout engaged BLUE LIGHT Computers on motors off lockout engaged SLOWLY FLASHING RED LIGHT Motors available but not powered QUICKLY FLASHING RED LIGHT Motors turning on SOLID RED LIGHT Motors on stay at least 2m away POWER MOTOR LIGHTS BACK VIEW POWER BUTTON LOCKOUT BUTTON ROBOT STATUS ...

Page 13: ...ry Rainbow dots Charging dots show charge Solid green Motors on Blinking orange Serious error or perception fault has occurred operation degraded 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 STATUS LIGHTS Yellow System booting up ...

Page 14: ...es in the settings menu Standard Mode Provides easy to use control for most situations Demo Mode Enables demonstration gaits and adds additional button controls to make it easy to switch modes INTRODUCING SPOT D PAD Directional buttons Controls camera view MODE BUTTONS Shortcuts to control Spot s motion STOP Cuts motor power ACTION MENU Controls how Spot moves STATUS BAR LEFT JOYSTICK Moves Spot m...

Page 15: ...avior around Spot and that the operation of Spot does not put anyone at risk SAFETY SAFETY DISTANCE 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...

Page 16: ...by the robot Operators and anyone nearby should assume that Spot may move unexpectedly at any time FALLS 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...

Page 17: ... 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 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 These can confuse Spot s obstacle detection system Spot can become ...

Page 18: ...tay at least 2m away when Spot is powered on except to press the lockout or power buttons 1 Never touch Spot when motors are active Stay at least 2m away at all times 2 Before handling Spot engage lockout to ensure motors can t turn on ACTIVE MOTORS SAFETY 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...

Page 19: ...TERY SAFETY Spot is powered by a removable lithium ion battery pack To reduce the risk of fire or electric shock Only use the Spot battery provided by Boston Dynamics Only charge battery with provided Boston Dynamics charger Don t short circuit burn disassemble submerge puncture crush drop or damage battery If battery fire starts don t try to put it out Evacuate to a safe area and call fire depart...

Page 20: ...ON Never handle Spot unless motor lockout is engaged Don t attempt to lift or move Spot while it is standing Only move joints with motors in lockout mode or while Spot is powered off Be careful to avoid pinch points CAUTION To avoid pinch points never carry Spot with fingers extended MOTOR LOCKOUT The lockout button mechanically disconnects the motor power and can only be activated by manually pre...

Page 21: ...ticularly 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 ...

Page 22: ...out mode 6 Keep hands in a fist as Spot rolls 5 Lifting handles roll Spot closer while moving backward 3 Grab farthest front and rear hip handles 2 Ensure that there s empty space to the other side ROLLING SPOT ONTO ITS BACK 1 Stand to one side of Spot Make sure motors are locked out 4 Close fists to avoid pinch points ...

Page 23: ... the automated self right procedure described on page 26 6 Keep hands in a fist as Spot rolls 5 Lifting handles roll Spot closer and move backward 4 Close fists to avoid pinch points 3 Grab farthest front and rear hip handles 2 Ensure that there s empty space to the other side 1 Stand to one side of Spot Make sure motors are locked out ROLLING SPOT INTO AN UPRIGHT POSITION ...

Page 24: ...ered by a removable lithium ion battery pack The battery can be charged stand alone or while inside the robot NOTE Before inserting battery document the information on robot label in battery compartment by taking a photo or re cording the information This information is needed to connect Spot to network INSERTING THE BATTERY With Spot on its back slide the battery s non handle side into the rear o...

Page 25: ...RGING SYSTEM The charger comes with three cables Power Cable From charger to wall AC Shore Power Cable From charger to Spot Battery Charging Cable From charger to battery POWER CABLE BATTERY CHARGING CABLE SHORE POWER CABLE ...

Page 26: ...o the robot 2 Replace the battery inside the robot with a fully charged battery 3 Remove the shore power cable This is a quick way to use Spot for periods longer than a single charge Charging a standalone battery 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 batt...

Page 27: ...r floors Ram board covered flooring Grass Packed dirt and sand Gravel Clean open space No objects or people in proximity to Spot Stay 2m away from Spot when motors are active Slippery surfaces Wet grass Ice Entrapment hazards Rebar mesh Sideways ladders Netting Elevated platforms without proper safety barriers Moving platforms such as vehicles or elevators Confined spaces without room for Spot to ...

Page 28: ...ed ranges Do not submerge robot in water Untrained personnel onsite Children onsite People below robot operating on elevated ground People on ladders or scaffolding near robot operating area Conferences sporting events other environments where crowds and devices may interfere with operator s ability to control or monitor Spot Unknown or poor communications performance For conditions that may cause...

Page 29: ...ult 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 po...

Page 30: ...ollapsing 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 Smart freeze When Spot detects a fall it will cushion...

Page 31: ...anding it will fall 3 Manually move legs and body into sit position avoiding hip knee pinch points 4 Release lockout button 5 Use controller to turn on motor power attempt self right maneuver again Press the Stand button to stand Spot in place Press the Sit button to sit Spot on ground Spot can sometimes end up on its back or on the ground with its legs in an unusual position Self righting flips S...

Page 32: ...esult in an unacceptable risk OBSTACLE AVOIDANCE 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 ma...

Page 33: ...e ladders and tripods 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 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 ...

Page 34: ...owever Spot may adjust its feet to maintain balance if necessary ROLL X axis of left joystick rolls robot s body L PITCH Y axis of right joystick changes robot s pitch body angle R YAW X axis of right joystick yaws nose left and right R BODY ELEVATION Y axis of left joystick moves body flat up and down L Z Y X YAW ROLL PITCH BODY POSING ...

Page 35: ... and left 4 To stop movement release fingers from joysticks 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 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 ...

Page 36: ... from all people 6 Switch gaits and demonstrate to audience DEMO MODE 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 a...

Page 37: ...ate 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...

Page 38: ...ing 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 ...

Page 39: ...ng up Do not turn Spot while on stairs Use caution when turning on landings Never stand under Spot Use caution when operating Spot near open railings Spot can fall through shafts Spot cannot climb stairs by side stepping 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 Alway...

Page 40: ... 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 speci...

Page 41: ...to the mission to be executed when the mission is replayed Missions are recorded on Spot and are trans ferred to the robot controller when saved NAVIGATION 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 rob...

Page 42: ... 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 jobs...

Page 43: ... 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 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...

Page 44: ...ure a 360 degree image using Spot CAM 1 During the mission recording process tap the plus sign on the controller screen 2 Tap Picture as the action type to add 3 Rename the picture action as needed and tap 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...

Page 45: ...er 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 MISSI...

Page 46: ...ook as if the mission is veering away from the intended route Solution Re record the mission The option to start recording a mission doesn t appear on the controller Symptom When attempting to record a new mission the controller doesn t offer an option to start the recording process Possible causes No fiducial visible to the robot To start recording a mission the robot needs to localize to a fiduc...

Page 47: ...hanged significantly since the mission was recorded moved equipment new construction etc 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 Possible causes Robots may not successfully follow a mission if the mission space has changed significantly since the mission was recorded Solution Clear the missio...

Page 48: ... 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 https www 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 Notable requirements include Batteries ...

Page 49: ... 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 support bostondynamics com Include Robot SN located in battery compartment Issue Repeatability of issue Press battery s SOC button to check battery lev...

Page 50: ...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 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 SUPPLIER ...

Page 51: ... 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 Inte...

Page 52: ...al and Electronic Equipment WEEE CAUTION Only for use in Boston Dynamics Spot Robot Only charge with Spot Char ger DO NOT incinerate disassemble crush or puncture DO NOT short circuit Damaged battery or short circuit may cause fire For more information contact the local waste collection center or Boston Dynamics The Spot Battery conforms to DENAN s technical requirement SPOT CHARGER CAUTION If the...

Page 53: ...t 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 r...

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