BostonDynamics – SPOT QUGV
SPOT QUGV
Our center’s Boston Dynamics SPOT is a legged, terrain-capable research platform now integrated into our multi-robot testbed. Equipped with the Enhanced Autonomy Payload (EAP-2) and our mounted NVIDIA Jetson Orin (64GB), it supports on-robot perception, mapping, and real-time inference while maintaining SPOT’s reliable mobility on stairs, uneven floors, and cluttered indoor spaces. We operate it via the rugged Android tablet for teleop and repeatable waypoint missions, and leverage the Research API for programmatic control, telemetry, and data access. NVIDIA Jetson expands our pipeline for SLAM, sensor fusion, and edge learning, with Ethernet/Wi-Fi connectivity into the lab network for logging and supervision. Standard operating procedures emphasize safety checks, speed limits, and geofenced work areas, allowing students and researchers to iterate rapidly while keeping bystanders safe. Together, this configuration makes SPOT a versatile platform for autonomous inspection, HRI studies, and advanced perception experiments across our research center.
Key Capabilities
• Legged mobility with dynamic stability; operates on stairs, uneven terrain, and
cluttered indoor spaces
• Perception & autonomy: onboard sensors for obstacle avoidance and navigation;
supports teleop, autonomous waypoints, and repeatable missions
• Payload ecosystem: modular payload ports to add sensors (RGB/thermal/LiDAR),
compute, comms
• Programming & data: Research API for commanding, telemetry, perception data
access; integrates with common robotics stacks via network APIs
• Operator UX: Rugged Android tablet for setup, teleop, mission execution; supports
safety zones and speed limits
• Fleet/Cloud (optional): Integration points for fleet mission management and data
review
Hardware Configuration (initial)
o Base Platform
• SPOT EDU base with standard perception suite (as provided by EDU package)
o Enhanced Autonomy Payload (EAP 2)
• Factory payload enabling advanced autonomy features and additional
sensing/compute (as provided by EAP 2 bundle)
o Research Kit Hardware
• Hardware components supporting research workflows (I/O, mounting, cables
where applicable). Document each component here upon unboxing.
o Additional Payload
• NVIDIA Jetson Orin (64GB) – mounted compute payload for on-robot
perception, planning, and data logging.
o Mounting: Fixed mount to Spot payload interface (document
bracket/plate details in lab inventory).
o Power: Powered via Spot payload port (record exact cable/voltage in
inventory once verified).
o Networking: Ethernet to Spot payload port (static IP or DHCP reservation
recommended); optional Wi-Fi for lab network.
o I/O (typical): USB 3.x for cameras/sensors; M.2/NVMe for storage
(specify actual components installed).
o Use cases: Edge inference, SLAM/mapping, sensor fusion, dataset
capture.
Power
• 2× hot-swappable batteries; 1× desktop charger; protective carrying case
Operator Device
• Samsung Tab Active 3 tablet, preconfigured for SPOT operations
Calibration
• Calibration board included for camera/perception alignment workflows
Operating Procedures (SOP extracts)
Safety & Setup
• Perform preflight inspection (mechanical joints, feet, payload mounts, cables)
• Confirm battery latch & charge; verify emergency stop availability
• Perform area sweep for obstacles and bystander safety; set slow speed initially
• Use tablet to bring SPOT to a safe stance; confirm autonomy mode and limits
Teleop & Missions
• Start with teleop in a controlled area; then progress to waypoint missions
• Log each mission run (date, operator, environment, purpose)
Charging & Storage
• Allow cool-down before charging; store batteries at recommended charge if idle >1
week
• Maintain storage in a dry, temperature-controlled space
Integration Notes for Multi-Robot Testbed
• Networking: Assign static IP / hostname; VLAN for robots; document DHCP
reservations
• Time Sync: NTP/PTP baseline for all robots and logging PCs; ensure Jetson clocks
sync to the same source
• Data Pipeline: Define topics/streams to record (vision, state, logs) on both Spot and
Jetson; storage budget & retention policy
• Interop: Gateway/proxy to bridge SPOT APIs with ROS/ROS 2 components if
applicable; Jetson can host ROS/ROS 2 nodes and interface over the Research API
• Safety Interlocks: Shared E-stop policy, geofences, and speed caps in multi-robot
areas
• Calibration: Cross-platform fiducials and a shared calibration board; common
coordinate frames
• Versioning: Change control for firmware, API versions, and autonomy behaviors;
track Jetson OS/driver/CUDA/cuDNN versions
Research Use Cases (starter list)
• Autonomous inspection: mechanical rooms, corridors, stairwells
• Perception: 3D mapping, anomaly detection, thermal surveys (with payloads)
• HRI: supervised autonomy, telepresence, safety envelopes
• ML/Controls: gait adaptation, terrain classification, robust navigation
Documentation & Helpful Links
• SPOT product overview (official site)
Spot | Boston Dynamics
• Developer Portal / Docs (SDK & API, QuickStart, Safety, EAP details, examples)
Spot SDK — Spot 5.0.1 documentation
• SPOT SDK (official GitHub org & repos)
boston-dynamics/spot-sdk: Spot SDK repo