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Biomimetic lizard robot for adapting to Martian surface terrain
Guangming Chen1, Long Qiao1, Zhenwen Zhou1
1College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China.
Bioinspiration & Biomimetics
|March 7, 2024
Summary
A new biomimetic quadruped robot, inspired by desert lizards, navigates challenging Martian terrains. This adaptable Mars rover design overcomes limitations of current wheeled vehicles in weak soil conditions.
Area of Science:
- Planetary Science
- Robotics
- Biomimetics
Background:
- Mars exploration is crucial, but current rovers struggle in weak, soil-like terrains.
- Rover immobilization in unexpected terrain limits exploration efficiency.
Purpose of the Study:
- Develop a Mars rover adaptable to challenging Martian surface conditions.
- Design a biomimetic quadruped robot inspired by desert lizard locomotion.
Main Methods:
- A quadruped robot with a flexible active spine and active toes was designed.
- Three gaits (tripod, trot, turning) were developed, coordinating spine flexion and leg movements.
- Simulations and traversing tests on Martian soil and rocky/slope analogs were conducted.
Main Results:
- The robot achieved a maximum forward speed of 28.13 m/s and a turning speed of 1.94°/s.
- It successfully traversed obstacles up to 74.85 mm and climbed slopes up to 28° with a 76.8% slippery rate.
- Active toes provided estimated gasping forces on granular terrains.
Conclusions:
- The biomimetic quadruped robot demonstrates adaptability to Martian granular rough terrain and gentle slopes.
- This design offers improved mobility for future Mars exploration missions.
- The flexible spine and active toes are key to overcoming terrain challenges.
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