The acquisition of surface samples from small interplanetary bodies such as comets and asteroids, as well as small moons like Mars' Phobos, and Deimos holds great scientific interest. Under the NASA Authorization Act, Congress instructed NASA to "plan, develop, and implement a Near-Earth Object (NEO) Survey program to detect, track, catalogue, and characterize the physical characteristics of NEOs equal to or greater than 140 meters in diameter in order to assess the threat of such near-Earth objects to the Earth." In 2010, President Obama called for a new approach to space exploration, which would include human and robotic exploration of asteroids. Characterization of these objects would require novel approaches akin to what is here proposed. While the specifics of the subsystem design to be performed in the proposed effort are intended for a spacecraft-type platform, the general approach of marsupial robots for reconnaissance and sampling from bodies with very low gravitational fields can also be applied to other bodies such as the Moon. Non-NASA applications for this technology include sampling of contaminated soils and liquid from hazardous environments (near nuclear reactors, oil spills, chemical spills etc.). Key subsystems such as the sampling probes, sensors could be re-purposed for sampling and investigating terrestrial sites. This would reduce the risk of sending personnel into contaminated environments.