📝 SummarXiv

Abstract

NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located in permanently shadowed regions, which can provide drinking water, oxygen, and rocket fuel, is therefore of critical importance. However, current methods to access lunar ice deposits are limited. While rovers have been used to explore the lunar surface for decades, they face significant challenges in navigating harsh terrains, such as permanently shadowed craters, due to the high risk of immobilization. This report introduces COBRA (Crater Observing Bio-inspired Rolling Articulator), a multi-modal snake-style robot designed to overcome mobility challenges in Shackleton Crater's rugged environment. COBRA combines slithering and tumbling locomotion to adapt to various crater terrains. In snake mode, it uses sidewinding to traverse flat or low inclined surfaces, while in tumbling mode, it forms a circular barrel by linking its head and tail, enabling rapid movement with minimal energy on steep slopes. Equipped with an onboard computer, stereo camera, inertial measurement unit, and joint encoders, COBRA facilitates real-time data collection and autonomous operation. This paper highlights COBRAs robustness and efficiency in navigating extreme terrains through both simulations and experimental validation.