Stephanie Newdick

Contacts:

Email: snewdick at stanford dot edu

Stephanie Newdick

Stephanie Newdick is a Ph.D. student in Aeronautics and Astronautics. She received her BS in Mechanical Engineering from Cornell University in 2014. Prior to coming to Stanford, she worked as a software engineer and flight test engineer for Kitty Hawk Corporation (formerly Zee Aero). She is currently supported by a Stanford Graduate Fellowship.

Stephanie’s research interests include real-time spacecraft motion-planning, grasping and manipulation in space, and adaptive control for autonomous robotics. In her free time, Stephanie enjoys backpacking, skiing, climbing - basically any excuse to go up a mountain.

Awards:

  • Stanford Graduate Fellowship

Currently at Blue Origin

ASL Publications

  1. J. Di, S. Cuevas-Quinones, S. Newdick, T. G. Chen, M. Pavone, M. G. A. Lapôtre, and M. Cutkosky, “Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations,” in Int. Conf. on Space Robotics, 2024.

    [BibTeX] [Abstract]

    Abstract: As natural access points to the subsurface, lava tubes and other caves have become premier targets of planetary missions for astrobiological analyses. Few existing robotic paradigms, however, are able to explore such challenging environments. ReachBot is a robot that enables navigation in planetary caves by using extendable and retractable limbs to locomote. In this paper, we outline the potential science return and mission operations for a notional mission that deploys ReachBot to a martian lava tube. We describe the motivating science goals and provide a science traceability matrix to guide payload selection. We also develop a Concept of Operations (ConOps) for ReachBot, providing a framework for deployment and activities on Mars, analyzing mission risks, and developing mitigation strategies.

     
    @inproceedings{DiCuevasQuiñonesEtAl2024,
  author = {Di, J. and Cuevas-Quinones, S. and Newdick, S. and Chen, T. G. and Pavone, M. and Lapôtre, Mathieu G. A. and Cutkosky, M.},
  title = {Martian Exploration of Lava Tubes (MELT) with ReachBot: Scientific Investigation and Concept of Operations},
  booktitle = {{Int. Conf. on Space Robotics}},
  year = {2024},
  month = jun,
  owner = {amine},
  url = {https://arxiv.org/abs/2406.13857},
  timestamp = {2024-09-19}
}
  2. T. G. Chen, S. Newdick, J. Di, C. Bosio, N. Ongole, M. Lapôtre, M. Pavone, and M. R. Cutkosky, “Locomotion as manipulation with ReachBot,” Science Robotics, vol. 9, no. 89, p. eadi9762, 2024.

    [BibTeX] [Abstract]

    Abstract: Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines and provide ReachBot with a large workspace, allowing it to achieve force closure in enclosed spaces, such as the walls of a lava tube. To propel ReachBot, we present a contact-before-motion planner for nongaited legged locomotion that uses internal force control, similar to a multifingered hand, to keep its long, slender booms in tension. Motion planning also depends on finding and executing secure grips on rock features. We used a Monte Carlo simulation to inform gripper design and predict grasp strength and variability. In addition, we used a two-step perception system to identify possible grasp locations. To validate our approach and mechanisms under realistic conditions, we deployed a single ReachBot arm and gripper in a lava tube in the Mojave Desert. The field test confirmed that ReachBot will find many targets for secure grasps with the proposed kinematic design.

     
    @article{ChenNewdickEtAl2024,
  author = {Chen, T. G. and Newdick, S. and Di, J. and Bosio, C. and Ongole, N. and Lapôtre, M. and Pavone, M. and Cutkosky, M. R.},
  title = {Locomotion as manipulation with ReachBot},
  journal = {{Science Robotics}},
  volume = {9},
  number = {89},
  pages = {eadi9762},
  year = {2024},
  keywords = {pub},
  owner = {gammelli},
  timestamp = {2024-09-19},
  url = {https://www.science.org/doi/abs/10.1126/scirobotics.adi9762}
}
  3. S. Newdick, N. Ongole, T. G. Chen, E. Schmerling, M. R. Cutkosky, and M. Pavone, “Motion Planning for a Climbing Robot with Stochastic Grasps,” in Proc. IEEE Conf. on Robotics and Automation, London, United Kingdom, 2023.

    [BibTeX] [Abstract]

    Abstract: ReachBot is a robot that uses extendable and retractable booms as limbs to move around unpredictable environments such as martian caves. Each boom is capped by a microspine gripper designed for grasping rocky surfaces. Motion planning for ReachBot must be versatile to accommo-date variable terrain features and robust to mitigate risks from the stochastic nature of grasping with spines. In this paper, we introduce a graph traversal algorithm to select a discrete sequence of grasps based on available terrain features suitable for grasping. This discrete plan is complemented by a decoupled motion planner that considers the alternating phases of body movement and end-effector movement, using a combination of sampling-based planning and sequential convex programming to optimize individual phases. We use our motion planner to plan a trajectory across a simulated 2D cave environment with at least 90% probability of success and demonstrate improved robustness over a baseline trajectory. Finally, we use a simplified prototype to verify a body movement trajectory generated by our motion planning algorithm.

     
    @inproceedings{NewdickOngoleEtAl2023,
  author = {Newdick, S. and Ongole, N and Chen, T. G. and Schmerling, E. and Cutkosky, M. R. and Pavone, M.},
  title = {Motion Planning for a Climbing Robot with Stochastic Grasps},
  booktitle = {{Proc. IEEE Conf. on Robotics and Automation}},
  year = {2023},
  address = {London, United Kingdom},
  month = may,
  doi = {10.1109/ICRA48891.2023.10160218},
  owner = {jthluke},
  timestamp = {2024-09-19},
  url = {https://arxiv.org/abs/2209.10687}
}
  4. S. Newdick, T. G. Chen, B. Hockman, E. Schmerling, M. R. Cutkosky, and M. Pavone, “Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission,” in IEEE Aerospace Conference, Big Sky, Montana, 2023.

    [BibTeX] [Abstract]

    Abstract: In this paper we present a trade study-based method to optimize the architecture of ReachBot, a new robotic concept that uses deployable booms as prismatic joints for mobility in environments with adverse gravity conditions and challenging terrain. Specifically, we introduce a design process wherein we analyze the compatibility of ReachBot’s design with its mission. We incorporate terrain parameters and mission requirements to produce a final design optimized for mission-specific objectives. ReachBot’s design parameters include (1) number of booms, (2) positions and orientations of the booms on ReachBot’s chassis, (3) boom maximum extension, (4) boom cross-sectional geome-try, and (5) number of active/passive degrees-of-freedom at each joint. Using first-order approximations, we analyze the relationships between these parameters and various performance metrics including stability, manipulability, and mechanical in-terference. We apply our method to a mission where ReachBot navigates and gathers data from a martian lava tube. The resulting design is shown in Fig. 1.

     
    @inproceedings{NewdickChenEtAl2023,
  author = {Newdick, S. and Chen, T. G. and Hockman, B. and Schmerling, E. and Cutkosky, M. R. and Pavone, M.},
  title = {Designing ReachBot: System Design Process with a Case Study of a Martian Lava Tube Mission},
  booktitle = {{IEEE Aerospace Conference}},
  year = {2023},
  address = {Big Sky, Montana},
  month = mar,
  doi = {10.1109/AERO55745.2023.10115893},
  owner = {jthluke},
  timestamp = {2024-09-20},
  url = {https://arxiv.org/abs/2210.11534}
}
  5. S. Schneider, A. Bylard, T. G. Chen, P. Wang, M. R. Cutkosky, and M. Pavone, “ReachBot: A Small Robot for Large Mobile Manipulation Tasks,” in IEEE Aerospace Conference, Big Sky, Montana, 2022.

    [BibTeX] [Abstract]

    Abstract: Robots are widely deployed in space environments because of their versatility and robustness. However, adverse gravity conditions and challenging terrain geometry expose the limitations of traditional robot designs, which are often forced to sacrifice one of mobility or manipulation capabilities to attain the other. Prospective climbing operations in these environments reveals a need for small, compact robots capable of versatile mobility and manipulation. We propose a novel robotic concept called ReachBot that fills this need by combining two existing technologies: extendable booms and mobile manipulation. ReachBot leverages the reach and tensile strength of extendable booms to achieve an outsized reachable workspace and wrench capability. Through their lightweight, compactable structure, these booms also reduce mass and complexity compared to traditional rigid-link articulated-arm designs. Using these advantages, ReachBot excels in mobile manipulation missions in low gravity or that require climbing, particularly when anchor points are sparse. After introducing the ReachBot concept, we discuss modeling approaches and strategies for increasing stability and robustness. We then develop a 2D analytical model for ReachBot’s dynamics inspired by grasp models for dexterous manipulators. Next, we introduce a waypoint-tracking controller for a planar ReachBot in microgravity. Our simulation results demonstrate the controller’s robustness to disturbances and modeling error. Finally, we briefly discuss next steps that build on these initially promising results to realize the full potential of ReachBot.

     
    @inproceedings{SchneiderBylardEtAl2022,
  author = {Schneider, S. and Bylard, A. and Chen, T. G. and Wang, P. and Cutkosky, M. R. and Pavone, M.},
  title = {{ReachBot:} {A} Small Robot for Large Mobile Manipulation Tasks},
  booktitle = {{IEEE Aerospace Conference}},
  year = {2022},
  address = {Big Sky, Montana},
  month = mar,
  url = {https://arxiv.org/abs/2110.10829},
  keywords = {pub},
  owner = {schneids},
  timestamp = {2021-11-04}
}
  6. M. Pavone, M. Cutkosky, M. Lapôtre, S. Schneider, T. G. Chen, and A. Bylard, “ReachBot: a Small Robot for Large Mobile Manipulation Tasks in Martian Cave Environments,” NASA NIAC Program, 2022.

    [BibTeX] [Abstract]

    Abstract: This study investigated a novel mission architecture where a long-reach crawling and anchoring robot, which repurposes extendable booms for mobile manipulation, is deployed to explore and sample difficult terrains on solar system bodies, with a key focus on Mars exploration. To this end, the robot concept introduced by this effort, called ReachBot, uses rollable extendable booms as manipulator arms and as highly reconfigurable structural members. ReachBot is capable of (1) rapid and versatile crawling through sequences of long-distance grasps, (2) traversing a large workspace while anchored (by adjusting boom lengths and orientations), and (3) applying high interaction forces and torques, primarily leveraging boom tensile strength and the variety of anchors within reach. These features allow a light and compact robot to achieve versatile mobility and forceful interaction in traditionally difficult environments such as vertical cliff walls or the rocky and uneven interiors of caves on Mars (see figure, left). In particular, ReachBot is uniquely suited for exploring and sampling Noachian targets on Mars that contain key sources of historical and astrobiological information preserved in strata in the form of cliff-face fractures and sublimation pits [1]. To develop this concept, this Phase I study brought together an interdisciplinary team of experts in robot autonomy, robotic manipulation, mechanical design, bio-inspired grasping, and geological planetary science from Stanford.

     
    @techreport{PavoneCutkoskyEtAl2012,
  author = {Pavone, M. and Cutkosky, M. and Lap\^{o}tre, M. and Schneider, S. and Chen, T. G. and Bylard, A.},
  title = {ReachBot: a Small Robot for Large Mobile Manipulation Tasks in Martian Cave Environments},
  institution = {{NASA NIAC Program}},
  year = {2022},
  note = {Final report},
  owner = {schneids},
  timestamp = {2022-10-14},
  url = {/wp-content/papercite-data/pdf/Pavone.ea.NIAC.Final.Report.2022.pdf}
}
  7. T. G. Chen, B. Miller, C. Winston, S. Schneider, 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.

    [BibTeX] [Abstract]

    Abstract: ReachBot is a new concept for planetary exploration, consisting of a small body and long, lightweight extending arms loaded primarily in tension. The arms are equipped with spined grippers for anchoring on rock surfaces. The design and testing of a planar prototype is presented here. Experiments with rock grasping and coordinated locomotion illustrate the advantages of low inertia passive grippers, triggered by impact and using stored mechanical energy for the internal force. Gripper design involves a trade-off among the range of possible grasp angles, maximum grasp force, required triggering force, and required reset force. The current prototype can pull with up to 8 N when gripping volcanic rock, limited only by the strength of the 3D printed components. Calculations predict a maximum pull of 26 N for the same spines and stronger materials.

     
    @inproceedings{ChenMillerEtAl2022,
  author = {Chen, T. G. and Miller, B. and Winston, C. and Schneider, S. and Bylard, A. and Pavone, M. and Cutkosky, M. R.},
  title = {{ReachBot:} {A} Small Robot with Exceptional Reach for Rough Terrain},
  booktitle = {{Proc. IEEE Conf. on Robotics and Automation}},
  year = {2022},
  url = {/wp-content/papercite-data/pdf/Chen.Miller.ea.RAL22.pdf},
  keywords = {pub},
  owner = {bylard},
  timestamp = {2021-12-09}
}