Compact robots with long reach for space exploration and maintenance tasks

This project focuses on the integrated design, control and motion planning needed for a new class of robots intended for maintenance and inspection tasks on the Moon and Mars and for structures in orbit. The robots have a low mass and compact stowed form factor but a long reach and the ability to apply forces and torques at widely separated locations. They are suitable for operation in challenging terrain such as caves or lava tubes, with the ability to anchor themselves using sparse handholds and then perform tasks like drilling for placing anchors or attaching and detaching components. Although they have a large workspace, these robots also impose constraints not found in conventional manipulators. For example, they may be able to pull much harder or apply torques much larger in some directions than in others, depending on their stance. The proposed research includes dynamic modeling and simulation to develop motion plans and inform the design of these robots---for example, how to configure joints to maximize the dexterous workspace for a chosen set of tasks. Dynamic simulation also provides a basis for generating motion plans, using a combination of optimization and machine learning methods. Core milestones will include (1) mechanical development of a high-performance manipulator utilizing a predominantly prismatic structure enabled by booms designed for many deployment cycles, (2) adaptive control methods for precise position and force control, (3) motion planning studies of such multi-limbed mobile platforms for dexterous manipulation, and (4) initial field deployment of accumulated advancements on physical robot system. Close collaboration with NASA is integral to this project, particularly through the NSTGRO Visiting Technologist Experience, which will provide direct mentorship and access to NASA's advanced technical resources. Engaging with NASA technologists will ensure the robot's capabilities are aligned with NASA's mission needs, allowing us to refine our tasks toward specific lunar and planetary applications of interest. Through a combination of innovative robotic design, advanced motion planning, and NASA collaboration, this project seeks to push the boundaries of robotic autonomy in extreme environments. The outcome will be a class of robots capable of versatile, forceful, and adaptive interactions that can support maintenance and exploration on future space missions.

This is a mature technology (TRL 7+) — the realistic path in is usually NASA's Technology Transfer Program: licensing an existing NASA patent, or a Space Act Agreement to use NASA facilities/expertise directly. NASA also runs a startup licensing program with no upfront fee for companies formed to commercialize a specific NASA technology.

None of these are guaranteed paths for this specific project — TechPort itself doesn't have an "apply" button. Reaching out to the contact(s) above with a specific question is usually the fastest way to find out what's actually open.