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Robots are widely deployed in space environments because of their versatilityand robustness. However, adverse gravity conditions and challenging terraingeometry expose the limitations of traditional robot designs, which are oftenforced to sacrifice one of mobility or manipulation capabilities to attain theother. Prospective climbing operations in these environments reveals a need forsmall, compact robots capable of versatile mobility and manipulation. Wepropose a novel robotic concept called ReachBot that fills this need bycombining two existing technologies: extendable booms and mobile manipulation.ReachBot leverages the reach and tensile strength of extendable booms toachieve an outsized reachable workspace and wrench capability. Through theirlightweight, compactable structure, these booms also reduce mass and complexitycompared to traditional rigid-link articulated-arm designs. Using theseadvantages, ReachBot excels in mobile manipulation missions in low gravity orthat require climbing, particularly when anchor points are sparse. Afterintroducing the ReachBot concept, we discuss modeling approaches and strategiesfor increasing stability and robustness. We then develop a 2D analytical modelfor ReachBot's dynamics inspired by grasp models for dexterous manipulators.Next, we introduce a waypoint-tracking controller for a planar ReachBot inmicrogravity. Our simulation results demonstrate the controller's robustness todisturbances and modeling error. Finally, we briefly discuss next steps thatbuild on these initially promising results to realize the full potential ofReachBot.

ReachBot: A Small Robot for Large Mobile Manipulation Tasks