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

TL;DR

This paper reports on the field testing of a ReachBot prototype in a Mojave Desert lava tube, demonstrating its potential for planetary cave exploration using extendable booms and grippers.

Contribution

It presents the design, implementation, and field test results of a partial ReachBot prototype for exploring lava tubes, a novel approach for planetary cave exploration.

Findings

Successful traversal of lava tube terrain

Effective grasping on irregular rock surfaces

Insights into design and operational challenges

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.