{"id":60944,"date":"2022-02-19T15:53:00","date_gmt":"2022-02-19T19:53:00","guid":{"rendered":"https:\/\/www.nasa.gov\/?migration=converted-node-477450"},"modified":"2023-07-26T16:35:14","modified_gmt":"2023-07-26T20:35:14","slug":"reachbot-small-robot-for-large-mobile-manipulation-tasks-in-martian-cave-environments","status":"publish","type":"post","link":"https:\/\/www.nasa.gov\/directorates\/stmd\/niac\/reachbot-small-robot-for-large-mobile-manipulation-tasks-in-martian-cave-environments\/","title":{"rendered":"ReachBot: Small Robot for Large Mobile Manipulation Tasks in Martian Cave Environments"},"content":{"rendered":"<div id=\"\" class=\"hds-media hds-module wp-block-image\"><div class=\"margin-left-auto margin-right-auto nasa-block-align-inline\"><div class=\"hds-media-wrapper margin-left-auto margin-right-auto\"><figure class=\"hds-media-inner hds-cover-wrapper hds-media-ratio-none \"><a href=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg\"><img fetchpriority=\"high\" decoding=\"async\" width=\"2048\" height=\"1475\" src=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?w=2048\" class=\"attachment-2048x2048 size-2048x2048\" alt=\"ReachBot Concept\" style=\"transform: scale(1); transform-origin: 50% 50%; object-position: 50% 50%; object-fit: cover;\" block_context=\"nasa-block\" srcset=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg 3833w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=300,216 300w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=768,553 768w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=1024,737 1024w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=1536,1106 1536w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=2048,1475 2048w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=400,288 400w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=600,432 600w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=900,648 900w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=1200,864 1200w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?resize=2000,1440 2000w\" sizes=\"(max-width: 2048px) 100vw, 2048px\" loading=\"eager\" \/><\/a><\/figure><figcaption class=\"hds-caption padding-y-2\"><div class=\"hds-caption-text p-sm margin-0\">Graphic depiction of ReachBot: Small Robot for Large Mobile Manipulation Tasks in Martian Cave Environments <strong>Credits: Marco Pavone<\/strong><\/div><\/figcaption><\/div><\/div><\/div>\n\n\n<p><strong>Marco Pavone<\/strong><br>\nStanford University<\/p>\n\n\n\n<p>ReachBot is a mobility and mobile manipulation platform that leverages lightweight extendable booms to achieve large reach with a small footprint, giving it unique access to steep, vertical, and overhanging surfaces in Martian caves. Navigating these surfaces is crucial for bringing instruments in contact with targets of significant geological and astrobiological interest.  In Phase I, we investigated key feasibility aspects crucial to a ReachBot\u2019s cave-exploration mission, and in particular we showed that (1) ReachBot has a significantly expanded reachable and wrench workspace compared to alternative designs, (2) lightweight surface grasping solutions with spiny grippers can reliably grasp onto rocky surfaces with passive actuation, and (3) ReachBot\u2019s enhanced mobility and manipulation strength enable new access to significant scientific targets.<\/p>\n\n\n\n<p>In Phase II, we will refine and augment the feasibility studies carried out in Phase I, with a key focus on addressing system robustness and end-to-end concept validation. In particular, we propose four research pillars for this Phase II effort that are crucial to validating ReachBot\u2019s utility in a realistic mission scenario. (I) We will optimize ReachBot\u2019s reachable workspace while maintaining stable configurations by developing a quantitative metric for robustness. This research pillar addresses ReachBot\u2019s ability to overcome the limitations of other robots in navigating cavernous environments. (II) We will develop a strategy to locate, select, and evaluate grasping sites that have a high probability of successful grasping with lightweight grippers. This research pillar supports ReachBot\u2019s advantageous mobility paradigm that relies on local perception, autonomous detection, and adherence to grasping sites on cave walls. (III) We will develop control strategies that minimize risk to bolster mission fulfillment, both by anticipating known risk and mitigating unpredictable risks. For example, we will develop controllers that actively damp oscillations in the booms, making ReachBot more robust to the dynamic response of a sudden grasp failure. (IV) We will study ReachBot\u2019s performance in a realistic mission environment. By outlining a detailed notional mission, we will determine realistic operational constraints for ReachBot. Then, we will conduct field tests to demonstrate the feasibility of our proposed concept for real-world deployments.<\/p>\n\n\n\n<p><strong><a href=\"https:\/\/www.nasa.gov\/directorates\/stmd\/niac\/niac-2022-phase-i-and-phase-ii-selections\/\" data-type=\"post\" data-id=\"60933\">2022 Phase I Selections<\/a><\/strong><\/p>\n\n\n<div id=\"\" class=\"hds-topic-cards nasa-gb-align-full maxw-full width-full padding-y-6 padding-x-3 color-mode-dark hds-module hds-module-full wp-block-nasa-blocks-topic-cards\">\t\t<div class=\"grid-container grid-container-block-lg padding-x-0\">\n\t\t\t<div class=\"grid-row flex-align-center margin-bottom-3\">\n\t\t\t\t<div class=\"desktop:grid-col-8 margin-bottom-2 desktop:margin-bottom-0\">\n\t\t\t\t\t<div class=\"label color-carbon-60 margin-bottom-2\">Keep Exploring<\/div>\n\t\t\t\t\t<h2 class=\"heading-36 line-height-sm\">Discover More NIAC Topics<\/h2>\n\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t<div class=\"grid-row grid-gap-2 hds-topic-cards-wrapper\">\n\t\t\t\t\t<a href=\"https:\/\/www.nasa.gov\/space-technology-mission-directorate\/\" class=\"mobile:grid-col-12 tablet:grid-col-6 desktop:grid-col-3 topic-card margin-bottom-4 desktop:margin-bottom-0\">\n\t\t\t\t<div class=\"hds-topic-card hds-cover-wrapper cover-hover-zoom bg-carbon-black\">\n\t\t\t\t\t<div class=\"skrim-overlay skrim-overlay-dark skrim-left mobile-skrim-top padding-3 display-flex flex-align-end flex-justify-start z-200\">\n\t\t\t\t\t\t<div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<p class=\"hds-topic-card-heading heading-29 color-spacesuit-white line-height-sm margin-top-0 margin-bottom-1\">\n\t\t\t\t\t\t\t\t<span>Space Technology Mission Directorate<\/span>\n\t\t\t\t\t\t\t\t<svg viewBox=\"0 0 32 32\" fill=\"none\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\"><circle class=\"color-nasa-red\" cx=\"16\" cy=\"16\" r=\"16\"><\/circle><path d=\"M8 16.956h12.604l-3.844 4.106 1.252 1.338L24 16l-5.988-6.4-1.252 1.338 3.844 4.106H8v1.912z\" class=\"color-spacesuit-white\"><\/path><\/svg>\n\t\t\t\t\t\t\t<\/p>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<figure class=\"hds-media-background  \"><img loading=\"lazy\" decoding=\"async\" width=\"525\" height=\"800\" src=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/stmd.jpg?w=525\" class=\"attachment-1536x1536 size-1536x1536\" alt=\"\" style=\"transform: scale(1); transform-origin: 50% 50%; object-position: 50% 50%; object-fit: cover;\" block_context=\"nasa-block\" srcset=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/stmd.jpg 525w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/stmd.jpg?resize=197,300 197w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/stmd.jpg?resize=263,400 263w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/stmd.jpg?resize=394,600 394w\" sizes=\"(max-width: 525px) 100vw, 525px\" \/><\/figure>\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/a>\n\t\t\t\t\t<a href=\"https:\/\/www.nasa.gov\/stmd-the-nasa-innovative-advanced-concepts-niac\/\" class=\"mobile:grid-col-12 tablet:grid-col-6 desktop:grid-col-3 topic-card margin-bottom-4 desktop:margin-bottom-0\">\n\t\t\t\t<div class=\"hds-topic-card hds-cover-wrapper cover-hover-zoom bg-carbon-black\">\n\t\t\t\t\t<div class=\"skrim-overlay skrim-overlay-dark skrim-left mobile-skrim-top padding-3 display-flex flex-align-end flex-justify-start z-200\">\n\t\t\t\t\t\t<div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<p class=\"hds-topic-card-heading heading-29 color-spacesuit-white line-height-sm margin-top-0 margin-bottom-1\">\n\t\t\t\t\t\t\t\t<span>NASA Innovative Advanced Concepts<\/span>\n\t\t\t\t\t\t\t\t<svg viewBox=\"0 0 32 32\" fill=\"none\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\"><circle class=\"color-nasa-red\" cx=\"16\" cy=\"16\" r=\"16\"><\/circle><path d=\"M8 16.956h12.604l-3.844 4.106 1.252 1.338L24 16l-5.988-6.4-1.252 1.338 3.844 4.106H8v1.912z\" class=\"color-spacesuit-white\"><\/path><\/svg>\n\t\t\t\t\t\t\t<\/p>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<figure class=\"hds-media-background  \"><img loading=\"lazy\" decoding=\"async\" width=\"1041\" height=\"521\" src=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png?w=1041\" class=\"attachment-1536x1536 size-1536x1536\" alt=\"\" style=\"transform: scale(1); transform-origin: 50% 50%; object-position: 50% 50%; object-fit: cover;\" block_context=\"nasa-block\" srcset=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png 1041w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png?resize=300,150 300w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png?resize=768,384 768w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png?resize=1024,512 1024w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png?resize=400,200 400w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png?resize=600,300 600w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/12\/niac_magnetosphere.png?resize=900,450 900w\" sizes=\"(max-width: 1041px) 100vw, 1041px\" \/><\/figure>\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/a>\n\t\t\t\t\t<a href=\"https:\/\/www.nasa.gov\/niac-funded-studies\/\" class=\"mobile:grid-col-12 tablet:grid-col-6 desktop:grid-col-3 topic-card margin-bottom-4 desktop:margin-bottom-0\">\n\t\t\t\t<div class=\"hds-topic-card hds-cover-wrapper cover-hover-zoom bg-carbon-black\">\n\t\t\t\t\t<div class=\"skrim-overlay skrim-overlay-dark skrim-left mobile-skrim-top padding-3 display-flex flex-align-end flex-justify-start z-200\">\n\t\t\t\t\t\t<div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<p class=\"hds-topic-card-heading heading-29 color-spacesuit-white line-height-sm margin-top-0 margin-bottom-1\">\n\t\t\t\t\t\t\t\t<span>NIAC Funded Studies<\/span>\n\t\t\t\t\t\t\t\t<svg viewBox=\"0 0 32 32\" fill=\"none\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\"><circle class=\"color-nasa-red\" cx=\"16\" cy=\"16\" r=\"16\"><\/circle><path d=\"M8 16.956h12.604l-3.844 4.106 1.252 1.338L24 16l-5.988-6.4-1.252 1.338 3.844 4.106H8v1.912z\" class=\"color-spacesuit-white\"><\/path><\/svg>\n\t\t\t\t\t\t\t<\/p>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<figure class=\"hds-media-background  \"><img loading=\"lazy\" decoding=\"async\" width=\"1536\" height=\"473\" src=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?w=1536\" class=\"attachment-1536x1536 size-1536x1536\" alt=\"\" style=\"transform: scale(1); transform-origin: 50% 50%; object-position: 50% 50%; object-fit: cover;\" block_context=\"nasa-block\" srcset=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png 4053w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=300,92 300w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=768,236 768w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=1024,315 1024w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=1536,473 1536w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=2048,630 2048w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=400,123 400w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=600,185 600w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=900,277 900w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=1200,369 1200w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_niac_ph_i_ii_selections_web_graphic_banner_final_v2.png?resize=2000,615 2000w\" sizes=\"(max-width: 1536px) 100vw, 1536px\" \/><\/figure>\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/a>\n\t\t\t\t\t<a href=\"https:\/\/www.nasa.gov\/about-niac\/\" class=\"mobile:grid-col-12 tablet:grid-col-6 desktop:grid-col-3 topic-card margin-bottom-4 desktop:margin-bottom-0\">\n\t\t\t\t<div class=\"hds-topic-card hds-cover-wrapper cover-hover-zoom bg-carbon-black\">\n\t\t\t\t\t<div class=\"skrim-overlay skrim-overlay-dark skrim-left mobile-skrim-top padding-3 display-flex flex-align-end flex-justify-start z-200\">\n\t\t\t\t\t\t<div>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<p class=\"hds-topic-card-heading heading-29 color-spacesuit-white line-height-sm margin-top-0 margin-bottom-1\">\n\t\t\t\t\t\t\t\t<span>About NIAC<\/span>\n\t\t\t\t\t\t\t\t<svg viewBox=\"0 0 32 32\" fill=\"none\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\"><circle class=\"color-nasa-red\" cx=\"16\" cy=\"16\" r=\"16\"><\/circle><path d=\"M8 16.956h12.604l-3.844 4.106 1.252 1.338L24 16l-5.988-6.4-1.252 1.338 3.844 4.106H8v1.912z\" class=\"color-spacesuit-white\"><\/path><\/svg>\n\t\t\t\t\t\t\t<\/p>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t\t\t<figure class=\"hds-media-background  \"><img loading=\"lazy\" decoding=\"async\" width=\"649\" height=\"766\" src=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2019\/09\/niac_2019_howe_troy.png?w=649\" class=\"attachment-1536x1536 size-1536x1536\" alt=\"\" style=\"transform: scale(1); transform-origin: 50% 50%; object-position: 50% 50%; object-fit: cover;\" block_context=\"nasa-block\" srcset=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2019\/09\/niac_2019_howe_troy.png 649w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2019\/09\/niac_2019_howe_troy.png?resize=254,300 254w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2019\/09\/niac_2019_howe_troy.png?resize=339,400 339w, https:\/\/www.nasa.gov\/wp-content\/uploads\/2019\/09\/niac_2019_howe_troy.png?resize=508,600 508w\" sizes=\"(max-width: 649px) 100vw, 649px\" \/><\/figure>\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/a>\n\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>Marco Pavone Stanford University ReachBot is a mobility and mobile manipulation platform that leverages lightweight extendable booms to achieve large reach with a small footprint, giving it unique access to steep, vertical, and overhanging surfaces in Martian caves. Navigating these surfaces is crucial for bringing instruments in contact with targets of significant geological and astrobiological [...]<\/p>\n","protected":false},"author":66,"featured_media":62001,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"nasa_hds_core_meta_l10n":"en-US","nasa_hds_core_meta_article_editor":"","nasa_hds_core_meta_article_contacts":[],"nasa_hds_core_meta_article_topic":"","nasa_hds_core_meta_linked_locations":[],"nasa_hds_core_meta_article_related_articles":[],"hds_migrate_meta_pr_release_id":"","hds_migrate_meta_pr_release_type":"","nasa_hds_core_meta_location_x":"","nasa_hds_core_meta_location_y":"","nasa_hds_core_meta_gallery_images":[],"footnotes":""},"categories":[3344],"news-tags":[],"internal-terms":[],"coauthors":[],"parsely":{"version":"1.1.0","meta":{"@context":"https:\/\/schema.org","@type":"NewsArticle","headline":"ReachBot: Small Robot for Large Mobile Manipulation Tasks in Martian Cave Environments","url":"https:\/\/www.nasa.gov\/directorates\/stmd\/niac\/reachbot-small-robot-for-large-mobile-manipulation-tasks-in-martian-cave-environments\/","mainEntityOfPage":{"@type":"WebPage","@id":"https:\/\/www.nasa.gov\/directorates\/stmd\/niac\/reachbot-small-robot-for-large-mobile-manipulation-tasks-in-martian-cave-environments\/"},"thumbnailUrl":"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?w=150&h=150&crop=1","image":{"@type":"ImageObject","url":"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg"},"articleSection":"NASA Directorates","author":[{"@type":"Person","name":"Loura Hall"}],"creator":["Loura Hall"],"publisher":{"@type":"Organization","name":"NASA","logo":"https:\/\/www.nasa.gov\/wp-content\/themes\/nasa\/assets\/images\/nasa-logo.svg"},"keywords":["NASA Directorates","Space Technology Mission Directorate","NASA Innovative Advanced Concepts (NIAC) Program"],"dateCreated":"2022-02-19T19:53:00Z","datePublished":"2022-02-19T19:53:00Z","dateModified":"2023-07-26T20:35:14Z"},"rendered":"<meta name=\"parsely-title\" content=\"ReachBot: Small Robot for Large Mobile Manipulation Tasks in Martian Cave Environments\" \/>\n<meta name=\"parsely-link\" content=\"https:\/\/www.nasa.gov\/directorates\/stmd\/niac\/reachbot-small-robot-for-large-mobile-manipulation-tasks-in-martian-cave-environments\/\" \/>\n<meta name=\"parsely-type\" content=\"post\" \/>\n<meta name=\"parsely-image-url\" content=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg?w=150&h=150&crop=1\" \/>\n<meta name=\"parsely-pub-date\" content=\"2022-02-19T19:53:00Z\" \/>\n<meta name=\"parsely-section\" content=\"NASA Directorates\" \/>\n<meta name=\"parsely-tags\" content=\"NASA Directorates,Space Technology Mission Directorate,NASA Innovative Advanced Concepts (NIAC) Program\" \/>\n<meta name=\"parsely-author\" content=\"Loura Hall\" \/>","tracker_url":"https:\/\/cdn.parsely.com\/keys\/nasa.gov\/p.js"},"read_time":2,"time_ago":"2 years","featured_image":{"id":62001,"file":"https:\/\/www.nasa.gov\/wp-content\/uploads\/2022\/02\/2022_ph_ii_pavone.jpg","title":"2022_ph_ii_pavone","alt":"ReachBot Concept","caption":""},"_links":{"self":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts\/60944"}],"collection":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/users\/66"}],"replies":[{"embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/comments?post=60944"}],"version-history":[{"count":3,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts\/60944\/revisions"}],"predecessor-version":[{"id":401190,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/posts\/60944\/revisions\/401190"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/media\/62001"}],"wp:attachment":[{"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/media?parent=60944"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/categories?post=60944"},{"taxonomy":"news-tags","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/news-tags?post=60944"},{"taxonomy":"internal-terms","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/internal-terms?post=60944"},{"taxonomy":"author","embeddable":true,"href":"https:\/\/www.nasa.gov\/wp-json\/wp\/v2\/coauthors?post=60944"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}