LunarLeaper—A mission concept to explore the lunar subsurface with a small-scale legged robot
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Date
2026-03
Publication Type
Journal Article
ETH Bibliography
yes
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Abstract
We present the LunarLeaper mission concept, which aims to robotically investigate volcanic pits on the lunar surface. Volcanic pits, or skylights, are collapse features that may provide access to subsurface lava tubes, which could serve as shelters for future human explorers and offer insight into the volcanic history of the Moon by exposing ancient lava flows. The existence and extent of large caves are still debated today and require in situ analysis. The Marius Hills site in particular offers a potential entry point to a cave system in a volcanic region on the lunar nearside. Our mission aims to deploy a payload-equipped 15 kg-class legged robot that can approach a pit, such as the Marius Hills pit, while taking measurements during the traverse. During the mission, measurements from a ground-penetrating radar (GPR) and a gravimeter will allow us to survey the subsurface and map any underlying lava tube, if present. The mission will investigate key questions regarding lunar volcanism, such as the existence and geometry of subsurface caves and the magnitude and timing of lava flows, while assessing the site's suitability for future human utilization and habitation. Furthermore, the mission will demonstrate key enabling technologies such as legged robots, serving as building blocks for the next generation of planetary missions.
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Publication status
published
Editor
Book title
Journal / series
Volume
240
Pages / Article No.
63 - 75
Publisher
Elsevier
Event
Edition / version
Methods
Software
Geographic location
Date collected
Date created
Subject
LunarLeaper; Legged robot; Lunar lava tubes; Marius hills pit; Lunar exploartion; Autonomous planetary robotics; Ground penetrating radar; Lunar subsurface; Geophasical survey; Lunar mission concept
Organisational unit
09797 - Aaron, Jordan / Aaron, Jordan
09570 - Hutter, Marco / Hutter, Marco
Notes
Funding
209123 - Using Magnetic Fields to Explore Terrestrial Bodies in our Solar System (SNF)