Bionic Design of Multi-Toe Quadruped Robot for Planetary Surface Exploration

To increase the knowledge and exploit new resources beyond Earth, planetary surface exploration on Moon or Mars attracts significant attention around globe. Due to fact that these surfaces are widely covered by soil-like materials, various structures of rovers have been proposed adapt terrains. Nonetheless, traditional rover structures, such as wheeled leg-wheeled, shown limitations in moving granular soils. improve mobility, this paper proposes a multi-toe quadruped robot inspired desert chameleon animal. The key features each bionic foot possesses four toes stabilize them materials. Moreover, flexible spine is designed coordinate with walking turning gaits make approach an animal-like mobility. assess performances, kinematics analysis analytical modeling foot, leg, movements carried out. results demonstrate can effectively walk turn accordance adopted gaits. Finally, field tests over sands conducted. It shows stably sands, which indicates it adaptable