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Chen TG, Newdick S, Di J, Bosio C, Ongole N, Lapôtre M, Pavone M, Cutkosky MR. Locomotion as manipulation with ReachBot. Sci Robot 2024; 9:eadi9762. [PMID: 38630805 DOI: 10.1126/scirobotics.adi9762] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/31/2023] [Accepted: 03/19/2024] [Indexed: 04/19/2024]
Abstract
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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Affiliation(s)
- Tony G Chen
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Stephanie Newdick
- Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305, USA
| | - Julia Di
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Carlo Bosio
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
- Department of Mechanical Engineering, University of California, Berkeley, CA 94720, USA
| | - Nitin Ongole
- Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305, USA
| | - Mathieu Lapôtre
- Department of Earth and Planetary Sciences, Stanford University, Stanford, CA 94305, USA
| | - Marco Pavone
- Department of Aeronautics and Astronautics, Stanford University, Stanford, CA 94305, USA
| | - Mark R Cutkosky
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
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2
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Abstract
Upcoming missions to the surface of Mars will use mobile robots to traverse long distances from the landing site. To prepare for these missions, the prototype rover, Rocky 7, has been tested in desert field trials conducted with a team of planetary scientists. While several new capabilities have been demonstrated, foremost among these was sun-sensor-based traversal of natural terrain totaling a distance of 1 km. This paper describes navigation results obtained in the field tests, where cross-track error was only 6% of the distance traveled. Comparison with previous results of other planetary rover systems shows this to be a significant improvement. Methods for further improvement are also discussed.
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Affiliation(s)
- Richard Volpe
- Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California 91109, USA
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3
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Hansford GM. Back-reflection energy-dispersive X-ray diffraction: a novel diffraction technique with almost complete insensitivity to sample morphology. J Appl Crystallogr 2011. [DOI: 10.1107/s0021889811012696] [Citation(s) in RCA: 10] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/11/2022] Open
Abstract
A novel X-ray diffraction (XRD) technique, which exhibits almost complete insensitivity to the morphology of and distance to the sample, is presented for the first time. This technique applies energy-dispersive XRD (EDXRD) in a back-reflection geometry, with 2θ ≃ 180°. Although this geometry leads to low resolution of diffraction peaks and the greatest overlap with fluorescence peaks, it nevertheless yields a combination of properties that are unique in the field of X-ray diffractometry. It is likely that diffraction patterns can be obtained with no or very minimal sample preparation. Furthermore, the intrinsic geometry of the method and the simplicity inherent to EDXRD enables a compact lightweight instrument design, suitable for field-portable or hand-held XRD and X-ray fluorescence analysis. Application to geological and planetary science is emphasized in this paper. The characteristics of the technique are elucidatedviatheoretical considerations and ray-trace modelling, and the simplest possible implementation is described.
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4
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Hock AN, Cabrol NA, Dohm JM, Piatek J, Warren-Rhodes K, Weinstein S, Wettergreen DS, Grin EA, Moersch J, Cockell CS, Coppin P, Ernst L, Fisher G, Hardgrove C, Marinangeli L, Minkley E, Ori GG, Waggoner A, Wyatt M, Smith T, Thompson D, Wagner M, Jonak D, Stubbs K, Thomas G, Pudenz E, Glasgow J. Life in the Atacama: A scoring system for habitability and the robotic exploration for life. ACTA ACUST UNITED AC 2007. [DOI: 10.1029/2006jg000321] [Citation(s) in RCA: 10] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Andrew N. Hock
- Department of Earth and Space Sciences; University of California, Los Angeles; Los Angeles California USA
| | - Nathalie A. Cabrol
- Space Science Division; NASA Ames Research Center; Moffett Field California USA
- SETI Institute; Mountain View California USA
| | - James M. Dohm
- Hydrology and Water Resources Department; University of Arizona; Tucson Arizona USA
| | - Jennifer Piatek
- Department of Earth and Planetary Sciences; University of Tennessee; Knoxville Tennessee USA
| | - Kim Warren-Rhodes
- Space Science Division; NASA Ames Research Center; Moffett Field California USA
- SETI Institute; Mountain View California USA
| | - Shmuel Weinstein
- Molecular Biosensor and Imaging Center; Mellon Institute, Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | | | - Edmond A. Grin
- Space Science Division; NASA Ames Research Center; Moffett Field California USA
- SETI Institute; Mountain View California USA
| | - Jeffrey Moersch
- Department of Earth and Planetary Sciences; University of Tennessee; Knoxville Tennessee USA
| | - Charles S. Cockell
- Planetary and Space Sciences Research Institute; Open University; Milton Keynes UK
| | - Peter Coppin
- Eventscope, Remote Experience and Learning Laboratory, Studio for Creative Inquiry; Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Lauren Ernst
- Molecular Biosensor and Imaging Center; Mellon Institute, Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Gregory Fisher
- Molecular Biosensor and Imaging Center; Mellon Institute, Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Craig Hardgrove
- Department of Earth and Planetary Sciences; University of Tennessee; Knoxville Tennessee USA
| | | | - Edwin Minkley
- Molecular Biosensor and Imaging Center; Mellon Institute, Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | | | - Alan Waggoner
- Molecular Biosensor and Imaging Center; Mellon Institute, Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Mike Wyatt
- Department of Earth and Planetary Sciences; University of Tennessee; Knoxville Tennessee USA
| | - Trey Smith
- Robotics Institute; Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - David Thompson
- Robotics Institute; Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Michael Wagner
- Robotics Institute; Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Dominic Jonak
- Robotics Institute; Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Kristen Stubbs
- Robotics Institute; Carnegie Mellon University; Pittsburgh Pennsylvania USA
| | - Geb Thomas
- GROK Laboratory; University of Iowa; Iowa City Iowa USA
| | - Erin Pudenz
- GROK Laboratory; University of Iowa; Iowa City Iowa USA
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5
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Klingelhöfer G, Morris RV, Bernhardt B, Rodionov D, de Souza PA, Squyres SW, Foh J, Kankeleit E, Bonnes U, Gellert R, Schröder C, Linkin S, Evlanov E, Zubkov B, Prilutski O. Athena MIMOS II Mössbauer spectrometer investigation. ACTA ACUST UNITED AC 2003. [DOI: 10.1029/2003je002138] [Citation(s) in RCA: 189] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- G. Klingelhöfer
- Institute for Inorganic and Analytical Chemistry; Johannes Gutenberg University; Mainz Germany
| | | | - B. Bernhardt
- Institute for Inorganic and Analytical Chemistry; Johannes Gutenberg University; Mainz Germany
| | - D. Rodionov
- Institute for Inorganic and Analytical Chemistry; Johannes Gutenberg University; Mainz Germany
- Space Research Institute IKI; Moscow Russia
| | - P. A. de Souza
- Institute for Inorganic and Analytical Chemistry; Johannes Gutenberg University; Mainz Germany
- Pelletizing Department; Companhia Vale do Rio Doce; Vitoria Brazil
| | - S. W. Squyres
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - J. Foh
- Institute for Inorganic and Analytical Chemistry; Johannes Gutenberg University; Mainz Germany
| | - E. Kankeleit
- Nuclear Physics Institute; Darmstadt University of Technology; Darmstadt Germany
| | - U. Bonnes
- Nuclear Physics Institute; Darmstadt University of Technology; Darmstadt Germany
| | - R. Gellert
- Institute for Inorganic and Analytical Chemistry; Johannes Gutenberg University; Mainz Germany
| | - C. Schröder
- Institute for Inorganic and Analytical Chemistry; Johannes Gutenberg University; Mainz Germany
| | - S. Linkin
- Space Research Institute IKI; Moscow Russia
| | - E. Evlanov
- Space Research Institute IKI; Moscow Russia
| | - B. Zubkov
- Space Research Institute IKI; Moscow Russia
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6
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Stoker CR, Roush TL, Arvidson RE, Bresina JL, Bualat MG, Edwards LJ, Flueckiger LJ, Washington RM, Nguyen LA, Thomas H, Wright AR. Two dogs, new tricks: A two-rover mission simulation using K9 and FIDO at Black Rock Summit, Nevada. ACTA ACUST UNITED AC 2002. [DOI: 10.1029/2000je001490] [Citation(s) in RCA: 10] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Carol R. Stoker
- Space Science Division, NASA Ames Research Center; Moffett Field California USA
| | - Ted L. Roush
- Space Science Division, NASA Ames Research Center; Moffett Field California USA
| | - Raymond E. Arvidson
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - John L. Bresina
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
| | - Maria G. Bualat
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
| | - Laurence J. Edwards
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
| | - Lorenzo J. Flueckiger
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
| | - Richard M. Washington
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
| | - Laurent A. Nguyen
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
| | - Hans Thomas
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
| | - Anne R. Wright
- Computational Sciences Division, NASA Ames Research Center; Moffett Field California USA
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7
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Jolliff B, Knoll A, Morris RV, Moersch J, McSween H, Gilmore M, Arvidson R, Greeley R, Herkenhoff K, Squyres S. Remotely sensed geology from lander-based to orbital perspectives: Results of FIDO rover May 2000 field tests. ACTA ACUST UNITED AC 2002. [DOI: 10.1029/2000je001470] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- B. Jolliff
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - A. Knoll
- Botanical Museum; Harvard University; Cambridge Massachusetts USA
| | | | - J. Moersch
- Department of Geological Sciences; University of Tennessee; Knoxville Tennessee USA
| | - H. McSween
- Department of Geological Sciences; University of Tennessee; Knoxville Tennessee USA
| | - M. Gilmore
- Jet Propulsion Laboratory; Pasadena California USA
| | - R. Arvidson
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - R. Greeley
- Department of Geology; Arizona State University; Tempe Arizona USA
| | | | - S. Squyres
- Center for Radiophysics and Space Research; Cornell University; Ithaca New York USA
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8
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Moersch JE, Jolliff B, McSween HY, Morris RV, Gilmore MS, Arvidson RE, Squyres SW. Synthesis of overhead and ground-based infrared spectroscopy at the 2000 FIDO Mars rover field test. ACTA ACUST UNITED AC 2002. [DOI: 10.1029/2001je001524] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- J. E. Moersch
- Department of Geological Sciences; University of Tennessee; Knoxville Tennessee USA
| | - B. Jolliff
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - H. Y. McSween
- Department of Geological Sciences; University of Tennessee; Knoxville Tennessee USA
| | | | | | - R. E. Arvidson
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - S. W. Squyres
- Space Sciences Building; Cornell University; Ithaca New York USA
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9
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Arvidson RE, Squyres SW, Baumgartner ET, Schenker PS, Niebur CS, Larsen KW, SeelosIV FP, Snider NO, Jolliff BL. FIDO prototype Mars rover field trials, Black Rock Summit, Nevada, as test of the ability of robotic mobility systems to conduct field science. ACTA ACUST UNITED AC 2002. [DOI: 10.1029/2000je001464] [Citation(s) in RCA: 16] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- R. E. Arvidson
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - S. W. Squyres
- Department of Astronomy; Cornell University; Ithaca New York USA
| | - E. T. Baumgartner
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - P. S. Schenker
- Jet Propulsion Laboratory; California Institute of Technology; Pasadena California USA
| | - C. S. Niebur
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - K. W. Larsen
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - F. P. SeelosIV
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - N. O. Snider
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
| | - B. L. Jolliff
- Department of Earth and Planetary Sciences; Washington University; St. Louis Missouri USA
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10
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Stoker CR, Cabrol NA, Roush TR, Moersch J, Aubele J, Barlow N, Bettis EA, Bishop J, Chapman M, Clifford S, Cockell C, Crumpler L, Craddock R, De Hon R, Foster T, Gulick V, Grin E, Horton K, Hovde G, Johnson JR, Lee PC, Lemmon MT, Marshall J, Newsom HE, Ori GG, Reagan M, Rice JW, Ruff SW, Schreiner J, Sims M, Smith PH, Tanaka K, Thomas HJ, Thomas G, Yingst RA. The 1999 Marsokhod rover mission simulation at Silver Lake, California: Mission overview, data sets, and summary of results. ACTA ACUST UNITED AC 2001. [DOI: 10.1029/1999je001178] [Citation(s) in RCA: 27] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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11
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Johnson JR, Ruff SW, Moersch J, Roush T, Horton K, Bishop J, Cabrol NA, Cockell C, Gazis P, Newsom HE, Stoker C. Geological characterization of remote field sites using visible and infrared spectroscopy: Results from the 1999 Marsokhod field test. ACTA ACUST UNITED AC 2001. [DOI: 10.1029/1999je001149] [Citation(s) in RCA: 15] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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12
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Gilmore MS, Castaño R, Mann T, Anderson RC, Mjolsness ED, Manduchi R, Saunders RS. Strategies for autonomous rovers at Mars. ACTA ACUST UNITED AC 2000. [DOI: 10.1029/2000je001275] [Citation(s) in RCA: 17] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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