Increasing scientific access and technology reliability through multi-modal surface and subsurface legged mobility

This work aims to enhance the current capabilities of robotic exploration in extraterrestrial environments to increase scientific access. Many mobile robotic explorers today are limited to surface-level exploration on low-sinkage regolith, hard terrain, air, or water. Subsurface and surface legged locomotion on high-sinkage granular substrates poses an opportunity. In particular, legs can provide adaptive mobility, across varied terrains that include regolith, reducing risk for places where terrain conditions are uncertain before landing. Researchers at UC Berkeley in the Embodied Dexterity Group have developed the EMerita BUrrowing Robot (EMBUR) which is one of the first legged robots capable of vertical self-burrowing in granular substrate. This project aims to increase the Technology Readiness Level of EMBUR, while also exploring how multiple modes of locomotion in granular substrate can be enabled in this bio-inspired robot to perform robustly. This work consists of three Aims. In Aim 1, I will developing efficient control strategies and mechanical designs that enable the robot to make horizontal displacements along the surface of granular substrate (walking). Preliminary observations indicate the need for diverse gaits to navigate the granular surface effectively, considering the substrate's deformations. This research aims to optimize the robot's locomotive capabilities by identifying more effective gaits for both flat and mounded substrates. In Aim 2, I will implement a control strategy and updated mechanical design for EMBUR that will facilitate transitions between walking and vertical self-burrowing in granular substrate. This redesign will include an additional leg pair, analogous to the Pacific mole crab's uropods, which would enable it to achieve the optimal body pitch necessary for self-burrowing. In Aim 3, I will simulate and evaluate EMBUR's self-burrowing performance in extraterrestrial regolith simulant available at NASA Centers. This will enable a better understanding of the specific challenges posed by different types of substrates, and inform necessary design modifications for these environments. Collaboration with experts at NASA and the utilization of advanced facilities will contribute to the success of the project, enhancing its potential impact on future extraterrestrial exploration.

This is early/mid-stage (TRL 2) — the most realistic path in is NASA SBIR/STTR, which funds small businesses and research institutions to develop technology aligned with NASA's needs (equity-free, phased funding). Check whether a current SBIR/STTR solicitation topic overlaps with this project's technology area, or contact the project directly (above) to ask.

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