SpaceBok: A Dynamic Legged Robot for Space Exploration

Abstract

This paper introduces SpaceBok, a quadrupedal robot created to investigate dynamic legged locomotion for the exploration of low-gravity celestial bodies. With a hip height of 500 mm and a mass of 20 kg, its dimensions are comparable to a medium-sized dog. The robot's leg configuration is based on an optimized parallel motion mechanism that allows the integration of parallel elastic elements to store and release energy for powerful jumping maneuvers. High-torque brushless motors in combination with customized single-stage planetary gear transmissions enable force control at the foot contact points based on motor currents. We present successful walking, trotting, and pronking experiments. Thereby, Spacebok achieved maximal jump heights in single jump experiments of up to 1.05 m (more than twice the hip height) and a walking velocity of 1m/s. Moreover, simulation results for low gravity on the moon suggest that our robot can move with up to 1.1m/s at an approximate cost of transport of 1 in moon gravity when using the pronking gait.