Scarabaeus: A walking robot applicable to sample return missions

Abstract

Recently there was a growing interest in the applicability of walking robots for sample return missions especially in the context of space missions. Samples found in hazardous terrain are of particular scientific interest, especially walking robots have a high degree of mobility in such environments. In this paper we present the six-legged robot Scarabaeus, which is prepared to demonstrate such a mission using its custom-made claw. We present the robot itself, the method of sample detection as well as the use of piezo-electric elements attached to the claw for the detection of a successful grasp. © 2009 Springer-Verlag.