Planetary Locomotion Systems for Enhanced Mobility Through Hybrid and Adaptive Methods

Exploring distant planetary surfaces presents significant challenges, with extreme and unpredictable terrains requiring highly specialized locomotion systems. To navigate these extreme environments, planetary vehicles rely on different types of movement, each with their own distinct capabilities and limitations. This research focuses on categorizing existing locomotion methods, analyzing their advantages and disadvantages, and identifying the most promising hybrid systems for future planetary exploration. Wheeled designs are widely employed for efficiency and stability on firm ground, but they often struggle in soft sand and rocky terrain. Legged systems provide greater adaptability by stepping over obstacles, making them suitable for rough or uneven surfaces, though they are more mechanically complex and demand more power. Tethered systems enable access to steep slopes and deep craters, expanding exploration possibilities beyond what traditional systems can achieve. However, they are limited by tether length, complexity in deployment, and potential entanglement issues. Undulating robots, such as eel-like designs, introduce new movement strategies that enhance versatility and allow access to reach tight places but face challenges such as limited payload capacity, difficulties in terrain adaptability beyond narrow pathways, and potential issues with sensor integration for navigation. Hybrid locomotion, such as combining wheels with legs or rolling with flying, offers potential for navigating and maneuvering on a wide range of terrains. While no single locomotion method is applicable for all terrains, the findings from this research will help identify which combination of movement technologies could be more effective across different planetary environments. Future studies can build on this foundation to develop hybrid systems that improve adaptability, efficiency, and success rate in planetary exploration.