ARSWR: Autonomous Retractable-Spoke-Wheel Robot for Asteroid-Surface Exploration

Abstract

Surface exploration of asteroids is a critical yet challenging aspect of deep-space missions. This article presents the design and capabilities of the autonomous retractable-spoke-wheel robot (ARSWR), a mobile robotic system specifically developed for asteroid surface exploration. The retractable spoke-wheel mechanism generates significant normal force through dynamic ground interaction, enabling reliable surface contact under microgravity conditions. The spokes can autonomously adjust their length, allowing the wheels to change diameter and adapt to uneven, rugged terrain for stable locomotion. In addition, simulation results confirm the feasibility​ of ARSWR performing hopping maneuvers by either rapidly rotating its wheels or extending its spokes on the asteroid surface—key strategies for traversing complex asteroid landscapes. During mid-air hops, the ARSWR is capable of adjusting its attitude to ensure controlled landings. The system also features autonomous navigation and path planning, utilizing the Point-LIO algorithm for localization. Equipped with a LiDAR sensor and an RGB-D camera, the robot constructs local 3-D terrain maps and detects obstacles in real-time, thereby enhancing mission autonomy and improving the overall efficiency of asteroid surface exploration.