Bio-inspired Autonomous Robot with a Novel Mobility Mechanism for Planetary Cave and Lava Tubes Exploration

Abstract

View Video Presentation: https://doi.org/10.2514/6.2022-2005.vid The purpose of this paper is to design and simulate an autonomous robot ARES with the ability to navigate planetary caves and lava tubes. The foundation of the design was focused on rotational symmetry for the placement of the spring-based launching mechanisms. This allows for the robot to travel in several directions without rotating its body, as well as create stability when multiple ropes are in use. Pads that make use of Van der Waal forces and strong adhesives were chosen to account for cave surfaces of a variety of friction. Electronic sensors and single-board computers were selected to support C/C++ software for autonomous behavior and 3D mapping objectives. Software that will be used is open source and adaptable. Sensors and cameras are going to be used to further the mapping and coordination of the robot's location. Several simulations were performed for the pendulum swinging motions under different gravity conditions and drag to better understand the conditions at which a robot of spherical shape would benefit or struggle. It was found that environments with higher drag or low gravity gave larger damping in oscillations. These conditions allow for better control over the robot's direction as well as longer computational time for autonomous decision-making. In environments where the conditions are not ideal, there will be a need for more ropes released for control.