AstroScout: Autonomous Soft-Growing RObot System for Surface & Cavity Observation via Unfurling Tool

Title:
Astro Scout: Autonomous Soft-growing Transformable RObotic System for Surface and Cavity Observation via Unfurling Toolset

Authors:
Nelson G. Badillo Pérez, Matthew L. Robinson, and Robert D. Howe

Abstract:
Lunar pits and lava tubes are high-priority exploration targets, yet no existing robotic platform can fully access their confined interiors for contact and proximity science. We present a mission concept for a pressure-driven soft growing robot capable of deploying from a lander at a lunar pit rim, descending to the pit floor, and exploring subsurface conduits. The system grows via tip-localized eversion, requiring no traction, grip points, or articulated joints, while its compliant body passively conforms to irregular terrain and enters highly confined openings. We present a composite membrane architecture using space-qualified materials and validate thermal feasibility across all mission phases through radiative-equilibrium analysis. The complete system mass of approximately 45 kg with a 260 m deployment reach enables integration as a secondary lander payload, addressing a capability gap in lunar subsurface exploration inaccessible to rigid platforms.

Extended Abstract:
https://openreview.net/forum?id=dNlrXBh5AS

Видео AstroScout: Autonomous Soft-Growing RObot System for Surface & Cavity Observation via Unfurling Tool канала Space Robotics Workshop