> For the complete documentation index, see [llms.txt](https://2022.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2022.istvs.org/papers/5060.md). # 5060 / Bionic Quadruped Robot for Mars Surface Exploration Title: Bionic Quadruped Robot for Mars Surface Exploration Authors: Long Qiao, Guangming Chen, Lutz Richter, and Aihong Ji Abstract: Mars surface exploration has attracted significant attention of scientists for exploiting new resources and space. To perform explorations on Mars surface, various structures of planetary rovers have been proposed. The Mars surface contains loose granular materials and various sizes of rocks. Traditional wheeled, crawler and legged structures of Mars rovers are mainly designed to walk on granular materials terrain, which are incapable of adapting to rocky surfaces. To improve the adaptations for both granular and rocky surfaces, this paper introduces a quadruped legged robot inspired by the locomotion of desert animal lizard that can walk on granular and rocky surfaces. The main feature is that the structure of the proposed robot possesses bionic multi-toe foot and flexible active spine. To verify the robot locomotion, kinematics on foot, leg and spine of the quadruped robot are analyzed. Furthermore, robot motions are analytically predicted with respect to two types of gaits. Combining control framework for adapting to both granular and rocky surfaces, a prototype of Mars robot has been manufactured. Experimental tests demonstrated that the bionic robot can walk on granular surfaces, and can also climb on rocky surface using the multi-joint toe with claw. Therefore, this bionic quadruped robot can have higher adaptability for Mars surface environment. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://2022.istvs.org/papers/5060.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.