English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents a trade study analysis to design and evaluate theperception system architecture for ReachBot. ReachBot is a novel roboticconcept that uses grippers at the end of deployable booms for navigation ofrough terrain such as walls of caves and lava tubes. Previous studies onReachBot have discussed the overall robot design, placement and number ofdeployable booms, and gripper mechanism design; however, analysis of theperception and sensing system remains underdeveloped. Because ReachBot canextend and interact with terrain over long distances on the order of severalmeters, a robust perception and sensing strategy is crucial to identifygrasping locations and enable fully autonomous operation. This trade studyfocuses on developing the perception trade space and realizing such perceptioncapabilities for a physical prototype. This work includes analysis of: (1)multiple-range sensing strategies for ReachBot, (2) sensor technologies forsubsurface climbing robotics, (3) criteria for sensor evaluation, (4) positionsand modalities of sensors on ReachBot, and (5) map representations of graspinglocations. From our analysis, we identify the overall perception strategy andhardware configuration for a fully-instrumented case study mission to a Martianlava tube, and identify specific sensors for a hardware prototype. The finalresult of our trade study is a system design conducive to benchtop testing andprototype hardware development.

Detecting Grasping Sites in a Martian Lava Tube: Multi-Stage Perception Trade Study for ReachBo