Boston Acoustics SPOT, User Manual

Page: 36 / 55

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R 2.0
V A
OPERA
TION
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.
To 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.
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 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
stable
Jog
Raises and lowers one front and
opposite hind foot together
Mobility demos, less
stable
STANDARD
MODE
CHANGING
GAITS