21 citations · 22 across the 7 of their papers we have counts for
7 papers · 1 filter
Locomotion as Manipulation with ReachBot
Tony G. Chen, Stephanie Newdick, Julia Di +5
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 sup…
Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations
Julia Di, Sara Cuevas-Quinones, Stephanie Newdick +4
As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigm…
ReachBot Field Tests in a Mojave Desert Lava Tube as a Martian Analog
Tony G. Chen, Julia Di, Stephanie Newdick +3
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…
Feed Me: Robotic Infiltration of Poison Frog Families
Tony G. Chen, Billie C. Goolsby, Guadalupe Bernal +2
We present the design and operation of tadpole-mimetic robots prepared for a study of the parenting behaviors of poison frogs, which pair bond and raise their offspring. The missio…
Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission
Stephanie Newdick, Tony G. Chen, Benjamin Hockman +3
In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in e…
Motion Planning for a Climbing Robot with Stochastic Grasps
Stephanie Newdick, Nitin Ongole, Tony G. Chen +3
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focu…