ReachBot Field Tests in a Mojave Desert Lava Tube as a Martian Analog

Abstract

ReachBot is a robot concept for the planetary exploration of caves and lava tubes, which are often inaccessible with traditional robot locomotion methods. It uses extendable booms as appendages, with grippers mounted at the end, to grasp irregular rock surfaces and traverse these difficult terrains. We have built a partial ReachBot prototype consisting of a single boom and gripper, mounted on a tripod. We present the details on the design and field test of this partial ReachBot prototype in a lava tube in the Mojave Desert. The technical requirements of the field testing, implementation details, and grasp performance results are discussed. The planning and preparation of the field test and lessons learned are also given.

Figures (4)

• Figure 1: ReachBot is a robotic concept that uses extending booms as prismatic limbs to navigate difficult terrain. Shown in a rendering (top) is the full ReachBot configuration overlaid on a photograph of the field test site in the Lavic Lake volcanic field in the Mojave Desert. During this field trial, a single-boom prototype (bottom) was tested to demonstrate a boom deployer, perception system, and microspine gripper.
• Figure 2: A custom microspine gripper was developed and field tested. Shown is a CAD rendering (top) of the microspine gripper. Also shown is a photograph (bottom) from the field test of the gripper successfully grasping a rock while mounted at the end of an extended boom.
• Figure 3: Shown are photographs of a few candidate lava tubes that were considered during the initial survey of the Mojave Desert Lavic Lake volcanic field.
• Figure 4: In the field test, the microspine gripper was capable of grasping a variety of different rock surfaces, ranging from hemispherical (left) to ledge-like features (middle, right). These results provide confidence that the microspine gripper will successfully grasp highly irregular lavic rock surfaces.