Pill Bug-Inspired Robot with Crawling and Rolling Locomotion Mechanisms for Use on the Lunar Surface

This paper explores a novel robotic concept inspired by a pillbug for lunar exploration and instrumentation vessels. The purpose of the Fengaribot is to carry scientific equipment to challenging destinations on the Moon in autonomous swarms. This project targets lunar missions like Artemis due to the high interest in geological research for craters, lunar lava tubes, and cave formations located at the south pole of the Moon. The Fengaribot is designed to traverse these hazardous environments and challenging terrains. The novel transformation between a crawling state and a rolling state allows the robot to scale steep sloping terrain and conserve energy during descent. The prototype uses a winch system to rotate the shell segments for conglobation and reverses the process to expand into its crawling state. In transitioning to the rolling state, the legs will be rotated against the shell and allow the prototype to roll down a slope controllably. The prototype will use LiDAR and machine learning for autonomous mapping and localization capabilities in GPS-denied environments. An Inertial Measurement Unit is coupled with the LiDAR to assist with localization. A walking-based locomotion mechanism gives the prototype greater control over rocky and non-uniform terrain than a wheel-based approach. Furthermore, like pillbugs, the shell compartments will contain separate electronic and mechanical subsystems. The robot's shell segments are designed to protect against lunar regolith and radiation damaging the electronics, mechanisms, and payload.