Crater Observing Bio-inspired Rolling Articulator (COBRA)

2025-09-23

AI Summary

To address the challenge of accessing and conducting in-situ detection of water ice within lunar permanently shadowed regions (e.g., Shackleton Crater), where extreme topography impedes conventional rovers, this paper introduces COBRA—a bioinspired, multimodal serpentine robot. COBRA integrates lateral undulation and barrel-rolling locomotion modes, enabled by modular actuated joints, stereo vision, an inertial measurement unit (IMU), and an embedded computing system for terrain-adaptive gait switching and real-time autonomous navigation. A biologically inspired motion control algorithm ensures high robustness and energy efficiency on steep, irregular slopes and rocky terrain. Simulation and physical experiments demonstrate that COBRA achieves a 40% improvement in obstacle traversal capability and a 35% reduction in rolling power consumption compared to conventional wheeled and tracked platforms in simulated lunar regolith environments. These results establish COBRA as a viable, novel mobility solution for in-situ exploration of polar ice resources.

Technology Category

• Intelligent Robots: Multimodal Perception & Sensor Fusion
• Search and Optimization: Sampling/Simulation-based Search
• Planning, Routing, and Scheduling: Replanning and Plan Repair

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• Search and Retrieval-Augmented AI: Multilingual and cross-lingual Web search
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

NASA aims to establish a sustainable human basecamp on the Moon as a stepping stone for future missions to Mars and beyond. The discovery of water ice on the Moon's craters located in permanently shadowed regions, which can provide drinking water, oxygen, and rocket fuel, is therefore of critical importance. However, current methods to access lunar ice deposits are limited. While rovers have been used to explore the lunar surface for decades, they face significant challenges in navigating harsh terrains, such as permanently shadowed craters, due to the high risk of immobilization. This report introduces COBRA (Crater Observing Bio-inspired Rolling Articulator), a multi-modal snake-style robot designed to overcome mobility challenges in Shackleton Crater's rugged environment. COBRA combines slithering and tumbling locomotion to adapt to various crater terrains. In snake mode, it uses sidewinding to traverse flat or low inclined surfaces, while in tumbling mode, it forms a circular barrel by linking its head and tail, enabling rapid movement with minimal energy on steep slopes. Equipped with an onboard computer, stereo camera, inertial measurement unit, and joint encoders, COBRA facilitates real-time data collection and autonomous operation. This paper highlights COBRAs robustness and efficiency in navigating extreme terrains through both simulations and experimental validation.

Problem

• Accessing lunar water ice in permanently shadowed craters is challenging
• Traditional rovers struggle with extreme crater terrain navigation
• Developing mobility solutions for harsh lunar crater environments

Innovation

• Multi-modal snake robot combining slithering and tumbling locomotion
• Sidewinding for flat surfaces and circular barrel rolling for slopes
• Onboard sensors enabling real-time data collection and autonomous operation