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A biologically inspired robot for lunar In-Situ resource utilization

Dunker, PA, Lewinger, WA, Hunt, AJ and Quinn, RD (2009) A biologically inspired robot for lunar In-Situ resource utilization 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. pp. 5039-5044.

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Successful long-term settlements on the Moon will need a supply of resources such as oxygen and water, yet the process of regularly transporting these resources from Earth would be prohibitively costly and dangerous. One alternative would be an approach using heterogeneous, autonomous robotic teams, which could collect and extract these resources from the surrounding environment (In-Situ Resource Utilization). The Whegs™ robotic platform, with its demonstrated capability to negotiate obstacles and traverse irregular terrain, is a good candidate for a lunar rover concept. In this research, Lunar Whegs™ is constructed as a proof-of-concept rover that would be able to navigate the surface of the moon, collect a quantity of regolith, and transport it back to a central processing station. The robot incorporates an actuated scoop, specialized feet for locomotion on loose substrates, Light Detection and Ranging (LIDAR) obstacle sensing and avoidance, and sealing and durability features for operation in an abrasive environment. © 2009 IEEE.

Item Type: Article
Divisions : Surrey research (other units)
Authors :
Dunker, PA
Hunt, AJ
Quinn, RD
Date : 11 December 2009
DOI : 10.1109/IROS.2009.5354202
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 12:28
Last Modified : 24 Jan 2020 22:20

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