月基机器人：面向月球基地建设的模块化按需可重构机器人 (MoonBot: Modular and On-Demand Reconfigurable Robot Toward Moon Base Construction)

Kentaro Uno,Elian Neppel,Gustavo H. Diaz,Ashutosh Mishra,Shamistan Karimov,A. Sejal Jain,Ayesha Habib,Pascal Pama,Hazal Gozbasi,Shreya Santra,Kazuya Yoshida

from arxiv, This is the authors' version of a paper accepted for publication in IEEE Transactions on Field Robotics, (c) IEEE. The final published version is available at https://doi.org/10.1109/TFR.2025.3624346

The allure of lunar surface exploration and development has recently captured widespread global attention. Robots have proved to be indispensable for exploring uncharted terrains, uncovering and leveraging local resources, and facilitating the construction of future human habitats. In this article, we introduce the modular and on-demand reconfigurable robot (MoonBot), a modular and reconfigurable robotic system engineered to maximize functionality while operating within the stringent mass constraints of lunar payloads and adapting to varying environmental conditions and task requirements. This article details the design and development of MoonBot and presents a preliminary field demonstration that validates the proof of concept through the execution of milestone tasks simulating the establishment of lunar infrastructure. These tasks include essential civil engineering operations, infrastructural component transportation and deployment, and assistive operations with inflatable modules. Furthermore, we systematically summarize the lessons learned during testing, focusing on the connector design and providing valuable insights for the advancement of modular robotic systems in future lunar missions.

翻译：近年来，月球表面探索与开发的前景已引起全球范围的广泛关注。机器人已被证明在探索未知地形、发现与利用本地资源以及促进未来人类栖息地建设方面不可或缺。本文介绍一种模块化按需可重构机器人系统（MoonBot），该系统采用模块化与可重构设计，旨在严格遵循月球载荷的质量约束条件下，通过适应多变的环境条件与任务需求，实现功能最大化。本文详细阐述了MoonBot的设计与开发过程，并通过执行模拟月球基础设施建设的里程碑任务，开展了初步现场演示以验证概念可行性。这些任务包括基础土木工程作业、基础设施组件运输与部署，以及与充气模块的辅助操作。此外，我们系统总结了测试阶段获得的经验教训，重点分析了连接器设计，为未来月球任务中模块化机器人系统的发展提供了有价值的见解。