LunarLeaper: From Simulation to Hardware for Lunar Legged Locomotion
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Author / Producer
Date
2025
Publication Type
Conference Paper
ETH Bibliography
yes
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Abstract
Following a successful Mission Concept Review in April 2025, the LunarLeaper team is advancing the design of a ~15 kg legged robot for investigation of a lunar volcanic pit. The review established Level 0/1 requirements and a concept of operations, while highlighting key challenges in locomotion maturity (TRL 4), power and thermal margins, and dust mitigation. To address these challenges, we are conducting interconnected studies that include morphology analyses, learning-based locomotion control, actuator and thermal modeling, and simulations of regolith interaction. Together, these activities form a framework that links morphology, actuation, control, and environment to mission level feasibility. By exposing key sensitivities of a legged robot, they enable better-informed Level 2/3 requirements, provide the foundation for the upcoming System Requirements Review (SRR), and establish a path toward hardware designs in Phase B.
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Publication status
published
Editor
Book title
IAC 2025 Congress Proceedings
Journal / series
Volume
Pages / Article No.
1449 - 1461
Publisher
International Astronautical Federation
Event
76th International Astronautical Congress (IAC 2025)
Edition / version
Methods
Software
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Date collected
Date created
Subject
Space robotics; Lunar exploration; Legged locomotion; Legged robots; RSL; Lunarleaper; Legged robotics
Organisational unit
09570 - Hutter, Marco / Hutter, Marco
Notes
Funding
209123 - Using Magnetic Fields to Explore Terrestrial Bodies in our Solar System (SNF)