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Designing and Implementing Nervous System Simulations on LEGO Robots

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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

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.