CESAR: A lunar crater exploration and sample return robot
In Intelligent Robots and Systems, (IROS-09), 10.10.-15.10.2009, St. Louis, MO, o.A., pages 3355-3360, Oct/2009. ISBN: 978-1-4244-3803-7.
Suspicion of water ice deposits in the lunar south-polar region have sparked new interest into the earth's smaller companion, and robotic crater sample return missions are being considered by a number of space agencies. The difficult terrain with an inclination of over 30°, eternal darkness and temperatures of less than -173°C make this a difficult task. In this paper we present a novel, bio-inspired light-weight system design, which demonstrates a possible approach for such a mission. The robot managed to come first in the Lunar Robotic Challenge (LRC), organised by the European Space Agency (ESA) in October 2008. Using a remote operated robot, we demonstrated to climb into and out of a lunar-like crater with inclination of more than 35° on loose substrate, and performed the collection and delivery of a 100g soil sample without the aid of external illumination.