#! /usr/bin/php ReachBot | Biomimetics and Dextrous Manipulation Lab
Biomimetics and Dextrous Manipulation Lab



ReachBot is a new project with Stanford's ASL and with NASA.


PI: Marco Pavone, Aero & AstroAA PhD students: Stephanie Scheider, Andrew Bylard
Co-I: Mark Cutkosky, MEBDML Phd students: Tony Chen, Brian Vuong
Visiting student: Carlo Bosio
Co-I: Mathieu Lapôtre, Geological Sciences 


T. G. Chen, B. Miller, S. Schneider-Newdick, A. Bylard, M. Pavone, and M. R. Cutkosky, “ReachBot: A Small Robot with Exceptional Reach for Rough Terrain,” in Proc. IEEE Conf. on Robotics and Automation, 2022.

S. Schneider, A. Bylard, T. G. Chen, P. Wang, M. R. Cutkosky, and M. Pavone, “ReachBot: A Small Robot for Large Mobile Manipulation Tasks,” (arxiv) in IEEE Aerospace Conference, Big Sky, Montana, 2022.

In the news: CNN: meet a robot that could crawl through caves


3 Sept 2021: After a busy summer with lots of work from BeckyMiller and TonyChen we have a ReachBot planar prototype pulling itself along the floor under the guidance of an overhead camera. Details in a forthcoming paper

Tony and Stephanie with ReachBot in the ME310 loft

17 May 2021: The tape measure we are using is driven by a DC motor with the following characteristics (when driving the tape). The "Starting Current" column refers to the current drawn by the motor when the tape starts retracted and the motor is then driven. As the tape rolls out, the current drawn by the motor increases until either the motor stalls (at low voltage) or the tape is fully extended.

Voltage (V)Starting Current (A)Stall Current (A)

This is unusual behavior for a DC motor as most motors (and motors drivers designed for those motors) operate at higher voltages and draw lower currents. Fortunately, we were able to get this working with the following motor driver shield. By connecting the M1 and M2 channels in parallel we are able to run the motor at 3V with a max continuous current of 2.4A.

4 May 2021: Short project description in the Stanford News

1 May2021: We have a concept for a scaled-down planar prototype (see figure at right)

Planar prototype concept (May 2021
Page last modified on July 02, 2022, at 01:59 PM