LunarLeaper - A Mission Concept to Explore the Lunar Subsurface with a Small-scale Legged Robot

Abstract

We present the LunarLeaper mission proposal, which is aimed to explore volcanic pits on the lunar surface. Lunar pits, or skylights, are collapsed features that may provide access to subsurface lava tubes, which could serve as shelters for future human explorers and offer insights into the volcanic history of the Moon by exposing ancient lava flows. The existence and extent of the caves are still debated today and require in-situ analysis. Our mission aims to deploy a payload-equipped, 10kg-class legged robot which can approach the Marius Hills pit, a potential entry to a cave system in a young volcanic region on the lunar nearside. Within the mission, the robot is planned to autonomously navigate the challenging terrain while using geophysical and imaging tools, such as a Ground Penetrating Radar and a Gravimeter. The mission will investigate key questions about lunar volcanism, such as the existence of subsurface caves and the magnitude and timing of lava flows, while assessing the site’s suitability for human utilization and habitation. Furthermore, the mission will demonstrate key enabling technologies, such as legged locomotion, as building blocks for next generation planetary missions.