About Spot

Cameras

Spot has 5 pairs of stereo cameras that provide black and white images and video.

Hips and joints

Spot has 2 actuators in each hip, and one actuator in each knee. The hip joints are referred to as HX and HY for each plane of rotation. This creates the following degrees of freedom and limits on each axis:

• 12 DOFs, 3 per leg

• Hip Joint X-axis (HX): +/- 45 degrees from vertical (45 degrees of internal and external rotation from vertical)

• Hip Joint Y-axis (HY): +/- 91 degrees with 50 degree bias from vertical (flexion/extension)

• Knee: +/- 14-160 degrees from straight (flexion/extension range from 14 to 160 degrees)

Legs are referred to as front or hind and left or right. For example, the front left leg is FL, or the hind left leg is HL. A complete joint reference for one leg looks like this:

• fl.hx refers to the front left hip X

• fl.hy refers to the front left hip Y

• fl.kn refers to the front left knee

The robot state protobuf message in the Spot SDK describes data about the robot, including information about joints and legs. The following snippet shows the data returned about the robot state using the get_robot_state example for hip X joint on the front left leg:

...
joint_states {
    name: "fl.hx"
    position {
      value: 0.21174180507659912
    }
    velocity {
      value: 0.003905495163053274
    }
    acceleration {
      value: 2.1059951782226562
    }
    load {
      value: -1.86274254322052
    }
  }
...

Robot specifications

Dimensions

Specification	Value
Robot type	Spot Gamma
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
Maximum speed	1.6 m/s

Environment

Specification	Value
Ingress protection	IP54
Operating temperature	-20C to 45C
Slopes	+/- 30 degrees
Stairways	Stair dimensions that meet US building code standards, typically with 7 in. rise for 10-11 in. run
Max step height	300 mm (11.8 in)
Lighting	Above 2 lux

Power

Specification	Value
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	120 minutes

Payload

Specification	Value
Max weight	14 kg (30.9 lbs)
Max power per port	150W
Payload ports	2

Sensing

Specification	Value
Camera type	Projected stereo
Field of view	360 degrees
Operating range	4 m (13 ft)

Connectivity

Specification	Value
Wifi	802.11
Ethernet	1000Base-T