Related papers: Martian Lava Tube Exploration Using Jumping Legged…

Detailed surface images of the Moon and Mars reveal hundreds of cave-like openings. These cave-like openings are theorized to be remnants of lava-tubes and their interior maybe in pristine conditions. These locations may have well preserved…

The ability to efficiently and effectively explore planetary surfaces is currently limited by the capability of wheeled rovers to traverse challenging terrains, and by pre-programmed data acquisition plans with limited in-situ flexibility.…

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…

Wheeled ground robots are limited from exploring extreme environments such as caves, lava tubes and skylights. Small robots that utilize unconventional mobility through hopping, flying and rolling can overcome many roughness limitations and…

This work introduces a novel approach for Titan exploration based on soft morphing aerial robots leveraging the use of flexible adaptive materials. The controlled deformation of the multirotor arms, actuated by a combination of a pneumatic…

Mars is the next frontier for the space explorers to demonstrate the extent of human presence in space beyond low-earth orbit. Both government and private space industries have been fascinated by Mars quest to attempt a crewed expedition to…

Robot-aided exploration of planetary surfaces is essential for understanding geologic processes, yet many scientifically valuable regions, such as Martian dunes and lunar craters, remain hazardous due to loose, deformable regolith. We…

Robotics plays a pivotal role in planetary science and exploration, where autonomous and reliable systems are crucial due to the risks and challenges inherent to space environments. The establishment of permanent lunar bases demands robotic…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…

The frequently discovered flooding structure on Mars and other planets has long been an intriguing mystery remained un-disclosed so far. Considering that on Earth, quite a few low melting point liquid metals or their alloy can be candidates…

Exploration of terrestrial planets such as Mars are conducted using orbiters, landers and rovers. Cameras and instruments onboard orbiters have enabled global mapping of Mars at low spatial resolution. Landers and rovers such as the Mars…

Mars exploration motivates the search for extraterrestrial life, the development of space technologies, and the design of human missions and habitations. Here we seek new insights and pose unresolved questions relating to the natural…

Martian subsurface habitability and astrobiology can be evaluated via a lava tube cave, without drilling. MACIE addresses two key goals of the Decadal Survey (2013-2022) and three MEPAG goals. New advances in robotic architectures,…

Exploration of extreme environments, including caves, canyons and cliffs on low-gravity surfaces such as the Moon, Mars and asteroids can provide insight into the geological history of the solar system, origins of water, life and prospect…

Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable advantage over traditional rovers for exploration. Motivated by…

In lunar and planetary exploration, legged robots have attracted significant attention as an alternative to conventional wheeled robots, which struggle to traverse rough and uneven terrain. To enable locomotion over highly irregular and…

Beyond space exploration, the next critical step towards living and working in space requires developing a space economy. One important challenge with this space-economy is ensuring the low-cost transport of raw materials from one…

This paper presents a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that subterranean settings, such as cave networks and underground mines, often involve…

Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future…