MoonBot: Modular and On-Demand Reconfigurable Robot Toward Moon Base Construction
Kentaro Uno, Elian Neppel, Gustavo Hernan Diaz Huenupan, Ashutosh Mishra, Shamistan Karimov, A. Sejal Jain, Ayesha Habib, Pascal Pama, Hazal Gozbasi, Shreya Santra, Kazuya Yoshida
AI summary
Problem
Traditional space robots are single-purpose and mass-inefficient, while existing modular systems struggle with complexity and reliable reconfiguration in harsh lunar environments. This paper addresses the need for a practical, adaptable robotic platform capable of autonomously constructing lunar infrastructure under strict payload constraints.
Approach
The authors designed MoonBot, a heterogeneous modular robot with interchangeable functional units that autonomously self-assemble and morph to match task requirements. They validated the system through a ground-based field demonstration simulating lunar civil engineering and habitat deployment, while analyzing connector design and control lessons.
Key results
- Design and implementation of a heterogeneous modular robot with interchangeable limbs, wheels, hands, and bodies
- Successful ground-based field demonstration of autonomous self-assembly and morphological reconfiguration
- Execution of simulated lunar infrastructure tasks including component transport and inflatable module deployment
- Systematic documentation of connector design lessons and control framework insights for lunar missions
Why it matters
It provides a scalable, mass-efficient robotic architecture that could enable autonomous lunar base construction, reducing reliance on single-purpose hardware for future space exploration.
Abstract
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.