ASTRO SCOUT: Autonomous Soft-growing Transformable RObotic System for Surface & Cavity Observation via Unfurling Toolset

Nelson Badillo Perez, Robert Howe, Matthew L. Robinson

Keywords: soft robotics, vine robot, lunar exploration, lava tube, space robotics, eversion

TL;DR: A 45 kg 260 m vine robot concept for lunar pit and lava tube exploration using tip-localized eversion of a space-qualified composite membrane to reach confined subsurface locations inaccessible to rigid platforms, with validated thermal feasibility.

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.

Submission Number: 9