ReachBot: A Small Robot with Exceptional Reach for Rough Terrain

Chen, Tony G.; Winston, Crystal; Schneider, Stephanie; Bylard, Andrew; Pavone, Marco; Cutkosky, Mark R.

doi:10.1109/icra46639.2022.9811949

Cited by 9 publications

(2 citation statements)

References 30 publications

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“…We have presented a robot capable of navigating scientifically promising but previously inaccessible areas, such as planetary caves and lava tubes. The work in this paper extends preliminary studies using a simplified planar ReachBot model (11,12) to a full 3D analysis with a realistic consideration of grasp strength and grasp site selection. The results presented here also include field testing because the details of sensing and grasping rock surfaces characteristic of lava tubes are difficult to address purely in simulation.…”

Section: Discussionmentioning

confidence: 69%

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Locomotion as manipulation with ReachBot

Chen,

Newdick,

et al. 2024

Sci. Robot.

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Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces, such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for nongaited legged locomotion that uses internal force control, similar to a multifingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We used a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. In addition, we used a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.

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Section: Discussionmentioning

confidence: 69%

“…In previous publications, we introduced the ReachBot concept and discussed planar motion planning and control (11)(12)(13)(14). Here, we extend the analysis and motion planning to fully three-dimensional (3D) scenarios and report on field tests of ReachBot technology to pave the way for full-scale ReachBot deployment.…”

Section: Introductionmentioning

confidence: 99%