Task-Driven Manipulation with Reconfigurable Parallel Robots
We present a manipulation planning method for ReachBot, a new form of space robot employing extendable booms for mobility in Martian lava tubes. Via a two-part optimization-based method, we determine the configuration of the robot (where to place the booms) as well as how much tensile force should be applied in each boom. Through this, we can reliably complete tasks even despite uncertainty, disturbances, and stochastic failure modes.