Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study
- Paper number
IAC-23,D3,IPB,1,x78491
- Author
Mr. Jørgen Anker Olsen, Norwegian University of Science and Technology, Norway
- Coauthor
Prof. Kostas Alexis, Norwegian University of Science and Technology, Norway
- Year
2023
- Abstract
In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have several distinct features of interest. First, it is theorized that they contain more easily accessible resources such as water ice, needed for in-situ utilization on Mars. Second, lava tubes of significant size can provide radiation and impact shelter for possible future human missions to Mars. Third, lava tubes may offer a protected and preserved view into Mars' geological and possible biological past. However, exploration of these lava tubes poses significant challenges due to their sheer size, geometric complexity, uneven terrain, steep slopes, collapsed sections, significant obstacles, and unstable surfaces. Such challenges may hinder traditional wheeled rover exploration. To overcome these challenges, legged robots and particularly jumping systems have been proposed as potential solutions. Jumping legged robots utilize legs to both walk and jump. This allows them to traverse uneven terrain and steep slopes more easily compared to wheeled or tracked systems. In the context of Martian lava tube exploration, jumping legged robots would be particularly useful due to their ability to jump over big boulders, gaps, and obstacles, as well as to descend and climb steep slopes. This would allow them to explore and map such caves, and possibly collect samples from areas that may otherwise be inaccessible. Traditional terrestrial legged robots such as ANYbotics ANYmal and Boston Dynamics Spot have reached the commercial market and proven their capability and robustness, while both had a prominent role during the DARPA Subterranean Challenge. This together with the work done with NASA's Scorpio, ETH's SpaceBok, and others has opened the possibility for legged systems with their unique designs and capabilities to be used in Martian lava tube exploration. This paper presents the specifications, design, capabilities, and possible mission profiles for state-of-the-art legged robots tailored to space exploration, focusing on jumping and walking for locomotion, in-air stabilization, and jumping trajectories. Additionally, it presents the design, capabilities, and possible mission profiles of a new jumping legged robot for Martian lava tube exploration developed at the Norwegian University of Science and Technology.
- Abstract document
- Manuscript document
IAC-23,D3,IPB,1,x78491.pdf (🔒 authorized access only).
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