Papers
Simulated Regolith Testing of Origami-Based Covers for Space Robots
Authors: Brigid Hickey, Ryan St. Pierre
Published to: The International Conference on Space Robotics
Date Published: 2025
Abstract
A novel benchtop method is presented for eval- uating abrasion-induced damage and particulate intrusion in flexible, origami-based covers intended for planetary explo- ration. Using a rock tumbler with silicon carbide grit as a regolith simulant, this compact, repeatable setup simulates continuous abrasion in a controlled laboratory environment. The protocol enables rapid design iteration by accelerating wear within a 24-hour cycle, making it well suited for early- stage validation of protective structures. Weight measurements and image-based tear analysis were used to assess regolith accumulation and structural failure across cover designs with 3, 4, and 5 pleats. Results found using the proposed approach showed that increased pleat count led to more frequent and distributed tearing, particularly at fold intersections. However, these tears generally reduced particulate accumulation, suggest- ing a trade-off between flexibility and environmental protection. The approach can be extended to other simulants, including returned regolith, offering a scalable framework for qualifying protective structures in space robotics.
Soft Gripping System for Space Exploration Legged Robots
Authors: Arthur Candalot, Malik-Manel Hashim, Brigid Hickey, Mickael Laine, Mitch Hunter-Scullion, Kazuya Yoshida
Published to: Walking Robots into Real World
Date Published: January 1, 2025
Abstract
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a viable alternative to overcome these obstacles. This paper proposes a gripping system that can provide legged space-explorer robots a reliable anchor on uneven rocky terrain. This gripper provides the benefits of soft gripping technology by using segmented tendon-driven fingers to adapt to the target shape, and creates a strong adhesion to rocky surfaces with the help of microspines. The gripping performances are showcased, and multiple experiments demonstrate the impact of the pulling angle, target shape, spine configuration, and actuation power on the performances. The results show that the proposed gripper can be a suitable solution for advanced space exploration, including climbing, lunar caves, or exploration of the surface of asteroids.