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Development of a Lizard-Inspired Robot for Mars Surface Exploration.

Guangming Chen1, Long Qiao1, Zhenwen Zhou1

  • 1Lab of Locomotion Bioinspiration and Intelligent Robots, College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.

Biomimetics (Basel, Switzerland)
|February 22, 2023
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Summary
This summary is machine-generated.

This study introduces a biomimetic quadruped robot, inspired by desert lizards, designed to overcome Mars rover mobility challenges. Its flexible spine and specialized feet enable effective locomotion on rocky and granular terrains.

Keywords:
Mars robotflexible spinefoot trajectoryplanetary roverspace exploration

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Area of Science:

  • Robotics
  • Biomimetics
  • Planetary Science

Background:

  • Mars exploration requires advanced rovers capable of navigating challenging terrains.
  • Current rovers struggle with granular soils and rocky surfaces.
  • Biomimetic designs offer potential solutions for enhanced mobility.

Purpose of the Study:

  • To develop a novel quadruped creeping robot for Mars surface exploration.
  • To address the limitations of existing rovers in traversing difficult Martian landscapes.
  • To create a robot inspired by the locomotion of desert lizards.

Main Methods:

  • Designed a biomimetic robot with a flexible spine and a four-linkage leg mechanism.
  • Incorporated an active ankle and a round foot pad with flexible toes for soil and rock grasping.
  • Established kinematic models for robot motion and numerically verified coordinated movements.
  • Experimentally demonstrated mobility on granular soils and rocky surfaces.

Main Results:

  • The robot's flexible spine facilitates swinging movements for enhanced locomotion.
  • The four-linkage leg mechanism ensures stable lifting motions.
  • The specialized foot design provides effective grasping of Martian soil and rocks.
  • Numerical verification confirmed coordinated trunk-leg motion.

Conclusions:

  • The developed biomimetic robot shows promise for navigating challenging Mars surface terrains.
  • This design offers a potential advancement for future uncrewed Mars missions.
  • The robot's locomotion capabilities are suitable for granular and rocky environments.