Sensitive end-effector design for spiny attachment onto frangible substrates in extreme underwater environments

Autonomous ocean exploration is a technological frontier, motivating advancements in navigation, communication, sensing, and manipulation. A robot’s ability to physically interact with unknown environments relies heavily on the intelligent design of capable, adaptable, and robust end-effectors. My project is to design and build an end-effector to enable a small robot to grip onto Earth's hydrothermal vents, an environment analogous to what is under the icy surfaces of Enceladus or Europa. An investigation into the fragile, brittle properties of hydrothermal vent substrates and spine attachment will drive the design of a passively compliant, spiny gripper. The sounds of scraping and microslips will be analyzed and incorporated into a reflexive acoustic haptic sensor for the robot. A remotely operated vehicle will be outfitted with a spiny gripper and hydrophone to test this technological development at a hydrothermal vent site, in collaboration with NASA organizations such as JPL Section 347 and a program similar to SUBSEA. The proposed research aligns with the NASA Space Technology Roadmap TA 4 of Robotics and Autonomous Systems (4.3 Manipulation) and prepares for a potential oceanic moon lander mission in the future.

The proposed research aligns with the NASA Space Technology Roadmap TA 4 of Robotics and Autonomous Systems (4.3 Manipulation) and prepares for a potential oceanic moon lander mission in the future.

This is early/mid-stage (TRL 3) — 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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