Dynamics of spherical telescopic linear driven rotation robots

Lunar caves are promising features for long-term and permanent human presence on the moon. However, given their inaccessibility to imaging from survey satellites, the concrete environment within the underground cavities is not well known. Thus, to further the efforts of human presence on the moon, these caves are to be explored by robotic systems. However, a set of environmental factors make this exploration particularly challenging. Among those are the very fine lunar dust that damages exposed sensors and actuators and the unknown composition of the surface and obstacles within the cavity. One robotic system that is particularly fit to meet these challenges is that of a spherical robot, as the exterior shell completely separates the sensors and actuators from the hazardous environment. This work introduces the mathematical description in the form of a dynamic model of a novel locomotion approach for this form factor that adds additional functionality. A set of telescopic linearly extending rods moves the robot using a combination of pushing away from the ground and leveraging the gravitational torque. The approach allows the system to locomote, overcome objects by hoisting its center of gravity on top, and transform into a terrestrial laser scanner by using the rods as a tripod.