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Locomotion as manipulation with ReachBot.

Tony G Chen1, Stephanie Newdick2, Julia Di1

  • 1Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA.

Science Robotics
|April 17, 2024
PubMed
Summary
This summary is machine-generated.

ReachBot, a novel robot, navigates challenging lunar and Martian caves using extendable booms. Its unique locomotion and grasping system enable exploration of inaccessible geological terrains.

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Area of Science:

  • Robotics and Autonomous Systems
  • Planetary Science
  • Astrobiology

Background:

  • Lunar and Martian caves (lava tubes) are key targets for geological and astrobiological research.
  • Traditional robot locomotion is insufficient for navigating the complex, irregular terrain within these subterranean environments.

Purpose of the Study:

  • To develop a robotic system, ReachBot, capable of exploring inaccessible caves and lava tubes on the Moon and Mars.
  • To enable robotic manipulation and locomotion within confined, irregular geological structures.

Main Methods:

  • ReachBot utilizes extendable booms with microspine grippers for manipulation and locomotion.
  • A contact-before-motion planner with internal force control manages nongaited legged locomotion, keeping booms in tension.
  • Monte Carlo simulations informed gripper design and grasp strength prediction.
  • A two-step perception system identifies secure grasp locations on rock features.

Main Results:

  • ReachBot's design allows for force closure in enclosed spaces, crucial for lava tube exploration.
  • The contact-before-motion planner ensures stable locomotion by maintaining boom tension.
  • Simulations predicted reliable grasp strength and variability.
  • Field tests in a Mojave Desert lava tube validated the robot's ability to find secure grasps.

Conclusions:

  • ReachBot offers a viable solution for exploring hazardous and inaccessible extraterrestrial cave environments.
  • The developed locomotion and grasping strategies are effective for navigating and interacting with irregular rock surfaces.
  • This technology advances the potential for in-situ scientific investigation within lunar and Martian lava tubes.