使用跳跃足式机器人探索火星熔岩管：一项概念研究
Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study
AI总结：
针对火星熔岩管复杂地形挑战，本文提出并介绍了一种新型跳跃足式机器人的设计、能力及任务概况，以克服传统轮式系统的局限并实现洞穴探索与采样。
摘要：
近年来，机器人探索在行星探索中变得越来越重要。一个特别受关注的探索区域是火星熔岩管，它具有几个引人关注的显著特征。首先，理论上它们含有更容易获取的资源，如火星原位利用所需的水冰。其次，具有相当规模的熔岩管可以为未来可能的载人火星任务提供辐射和撞击庇护所。第三，熔岩管可能提供一个受保护和保存的视角，以了解火星的地质和可能的生物学过去。然而，由于熔岩管的巨大尺寸、几何复杂性、不平坦的地形、陡峭的斜坡、坍塌的路段、重大的障碍和不稳定的表面，对这些熔岩管的探索提出了重大挑战。这些挑战可能会阻碍传统的轮式漫游车探索。为了克服这些挑战，足式机器人，特别是跳跃系统，已被提出作为潜在的解决方案。跳跃足式机器人利用腿来行走和跳跃。这使得它们与轮式或履带式系统相比，能够更容易地穿越不平坦的地形和陡峭的斜坡。在火星熔岩管探索的背景下，跳跃足式机器人将特别有用，因为它们能够跳过巨大的巨石、缺口和障碍物，以及下降和攀爬陡峭的斜坡。这将使它们能够探索和测绘此类洞穴，并可能从原本无法到达的区域收集样本。本文介绍了专为太空探索定制的最先进足式机器人的规格、设计、能力和可能的任务概况。此外，它还介绍了挪威科技大学正在开发的用于火星熔岩管探索的新型跳跃足式机器人的设计、能力和可能的任务概况。
英文摘要：
In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have several distinct features of interest. First, it is theorized that they contain more easily accessible resources such as water ice, needed for in-situ utilization on Mars. Second, lava tubes of significant size can provide radiation and impact shelter for possible future human missions to Mars. Third, lava tubes may offer a protected and preserved view into Mars' geological and possible biological past. However, exploration of these lava tubes poses significant challenges due to their sheer size, geometric complexity, uneven terrain, steep slopes, collapsed sections, significant obstacles, and unstable surfaces. Such challenges may hinder traditional wheeled rover exploration. To overcome these challenges, legged robots and particularly jumping systems have been proposed as potential solutions. Jumping legged robots utilize legs to both walk and jump. This allows them to traverse uneven terrain and steep slopes more easily compared to wheeled or tracked systems. In the context of Martian lava tube exploration, jumping legged robots would be particularly useful due to their ability to jump over big boulders, gaps, and obstacles, as well as to descend and climb steep slopes. This would allow them to explore and map such caves, and possibly collect samples from areas that may otherwise be inaccessible. This paper presents the specifications, design, capabilities, and possible mission profiles for state-of-the-art legged robots tailored to space exploration. Additionally, it presents the design, capabilities, and possible mission profiles of a new jumping legged robot for Martian lava tube exploration that is being developed at the Norwegian University of Science and Technology.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
