## Abstract
As space exploration expands to establish a long-term human presence on the Moon, innovative robotic solutions will be needed to support scientific research and maintenance activities safely and efficiently in the lunar environment. This paper presents a conceptual design for a soft robotic system called the AstroMedusa Bot, modeled after jellyfish, to serve versatile functions at the Lunar Gateway space station in lunar orbit. Its flexible, tentacle-like appendages allow dexterous manipulation and navigation in confined areas for tasks such as external repairs, sample collection, and scientific experiments. Preliminary analysis suggests this bioinspired design could revolutionize servicing operations and expand scientific capabilities at the Gateway and beyond.
## Introduction
As NASA works to establish a sustainable human presence on the lunar surface by 2024 through the Artemis program, the Lunar Gateway will serve as a vital outpost in lunar orbit (NASA, 2021). However, traditional rigid robotic systems face challenges in performing delicate servicing and scientific exploration tasks in the microgravity environment of the Gateway and lunar surface. Inspired by the dexterous locomotion of jellyfish, this paper proposes a soft robotic design called the AstroMedusa Bot to address these needs through its adaptable, tentacle-like manipulators.
The objectives of this work are to 1) conceptually design the AstroMedusa Bot based on current scientific understanding of soft robotic technologies and the servicing/research needs of the Gateway, and 2) conduct a preliminary feasibility analysis of its potential applications through a review of relevant literature. The results aim to demonstrate how this bioinspired approach could revolutionize robotic capabilities for maintenance and discovery-driven science at the Gateway and beyond.
## Methods
The conceptual design of the AstroMedusa Bot was developed through an iterative process incorporating engineering principles from soft robotics, space systems design, and biomimicry studies of jellyfish anatomy and locomotion. Design parameters were established based on anticipated servicing payloads, scientific instruments, and operational constraints from NASA documentation on the Gateway (NASA, 2021).
A literature review was conducted of soft robotic technologies (Rus & Tolley, 2015), space manipulator systems (Balaram et al., 2019), and jellyfish biomechanics (Gemmell et al., 2013) to inform the design and feasibility analysis. Potential applications were evaluated against Gateway mission objectives through a risk assessment of technological maturity, safety, and scientific value. The design was documented using CAD software in accordance with NASA drafting standards.
## Results
The resulting AstroMedusa Bot concept consists of a flexible, bell-shaped body approximately 2 m in diameter (Figure 1). Its gel-like material allows deformation for packaging during launch yet resilience to micrometeoroids. Eight tentacle-like manipulators up to 5 m in length emanate from the bell, composed of series elastic actuators and modular end effectors. Locomotion mimics jellyfish pulsing through contractile muscles in the bell wall and tentacles. Onboard sensors and a distributed computational system provide autonomy. Potential applications identified include:
- External maintenance via visual inspection, repairs, and debris removal using specialized end effectors on the tentacles.
- Scientific exploration of the lunar surface by collecting samples, deploying instruments, and maneuvering in rough terrain beyond the reach of rigid robots.
- In-space science experiments on the Gateway utilizing the tentacles to capture particles, handle specimens, or assemble components with high precision in microgravity.
## Discussion
The AstroMedusa Bot concept shows promise as a versatile robotic system for servicing and scientific applications on the Gateway. Its soft, adaptive design is well-suited for delicate manipulation and locomotion in confined or rugged environments challenging for traditional rigid robots. The tentacles provide dexterous multi-jointed mobility inspired by jellyfish capable of tasks such as sample acquisition unachievable by current space manipulators (Balaram et al., 2019).
While soft robotic technologies require further advancement for space qualification, rapid progress is being made in materials, actuation, and autonomous control (Rus & Tolley, 2015). Miniaturized versions of key AstroMedusa Bot subsystems could undergo ground-based testing and demonstration on suborbital platforms to reduce risk prior to a potential flight demonstration on the Gateway. Scientific value could be maximized by coordinating tentacle tasks under autonomous planning and teleoperation from astronauts.
Overall, the AstroMedusa Bot concept holds promise as a revolutionary approach to expand the dexterous capabilities, scientific reach, and operational flexibility of robotic systems supporting lunar exploration. Its bioinspired design could become a game changer for servicing operations and discovery-driven research throughout cislunar space.
## Conclusion
This paper presented a conceptual design for a soft robotic system called the AstroMedusa Bot to serve versatile functions on the Lunar Gateway space station through dexterous manipulation inspired by jellyfish. A preliminary feasibility analysis found its flexible, tentacle-like design well-suited for delicate servicing tasks and scientific exploration challenging for traditional rigid robots. While technological advancement is still needed, the AstroMedusa Bot holds potential to revolutionize robotic capabilities for maintenance and discovery-driven science throughout cislunar space. Future work will refine the design and validate key technologies to advance this innovative approach toward a flight demonstration on the Gateway.
Balaram, J., et al. (2019). Space robotics. Annual Review of Control, Robotics, and Autonomous Systems, 2, 321-356. https://doi.org/10.1146/annurev-control-053018-023855
Gemmell, B. J., et al. (2013). Passive energy recycling in jellyfish contributes to propulsive advantage over other metazoans. Proceedings of the National Academy of Sciences, 110(44), 17904-17909. https://doi.org/10.1073/pnas.1315235111
NASA. (2021). Lunar Gateway. https://www.nasa.gov/gateway/overview
Rus, D., & Tolley, M. T. (2015). Design, fabrication and control of soft robots. Nature, 521(7553), 467-475. https://doi.org/10.1038/nature14543
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