Cave system; Human explorers; In-situ analysis; Lava flows; Legged robots; Lunar surface; Mission concepts; Small scale; Volcanic history; Volcanics; Aerospace Engineering; Astronomy and Astrophysics; Space and Planetary Science
Abstract :
[en] We present the LunarLeaper mission proposal, which is aimed to explore volcanic pits on the lunar surface. Lunar pits, or skylights, are collapsed features that may provide access to subsurface lava tubes, which could serve as shelters for future human explorers and offer insights into the volcanic history of the Moon by exposing ancient lava flows. The existence and extent of the caves are still debated today and require in-situ analysis. Our mission aims to deploy a payload-equipped, 10kg-class legged robot which can approach the Marius Hills pit, a potential entry to a cave system in a young volcanic region on the lunar nearside. Within the mission, the robot is planned to autonomously navigate the challenging terrain while using geophysical and imaging tools, such as a Ground Penetrating Radar and a Gravimeter. The mission will investigate key questions about lunar volcanism, such as the existence of subsurface caves and the magnitude and timing of lava flows, while assessing the site's suitability for human utilization and habitation. Furthermore, the mission will demonstrate key enabling technologies, such as legged locomotion, as building blocks for next generation planetary missions.
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
Kolvenbach, Hendrik; Robotic Systems Lab, ETH Zurich, Switzerland
Mittelholz, Anna; Earth Science Department, ETH Zurich, Switzerland
Stähler, Simon; Space Systems and Technology, ETH Zurich, Switzerland
Church, Joseph; Robotic Systems Lab, ETH Zurich, Switzerland
Arm, Philip; Robotic Systems Lab, ETH Zurich, Switzerland
Bickel, Valentin; Center for Space and Habitability, University of Bern, Switzerland
Walas, Krzysztof; Institute of Robotics and Machine Intelligence, Poznan University of Technology, Poland
Grott, Matthias; Institute of Planetary Research, German Aerospace Center, Germany
Hamran, Svein-Erik; Department of Technology Systems, University of Oslo, Norway
Karatekin, Özgür; Royal Observatory of Belgium, Belgium
OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
COLOMA CHACON, Sofia ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
Pagnamenta, Marco; ANYbotics AG, Switzerland
Gumiela, Michal; KP Labs sp. z o.o., Poland
Aaron, Jordan; Earth Science Department, ETH Zurich, Switzerland
Hutter, Marco; Robotic Systems Lab, ETH Zurich, Switzerland
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