Enhancement of the Six-Legged Robot Mantis for Assembly and Construction Tasks in Lunar Mission Scenarios within a Multi-Robot Team
In 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '20), (i-SAIRAS-2020), 19.10.-23.10.2020, Online-Conference, o.A., Oct/2020.
Mantis is a six-legged walking robotic system that is designed for locomotion in uneven terrain as well as to perform manipulation tasks. Mantis is one in-volved robotic system in the project PRO-ACT (Planetary RObots Deployed for Assembly and Con-struction Tasks) in which different robotic systems work together to perform cooperation tasks like as-sembly and transport to build up lunar infrastructure, e.g. for In-Situ Resource Utilization. To support the required locomotion and manipulation skills, hard-ware and software modifications were conducted, which are described in this paper as well as the per-formed tests.
Space Exploration, Multi-Robot Cooperation, In-Situ Resource Utilization, Walking Robot, Lunar Mission