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Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano

Shubham Vyas, Franek Stark, Rohit Kumar, Hannah Isermann, Jonas Haack, Mihaela Popescu, Jakob Middelberg, Dennis Mronga, Frank Kirchner

TL;DR

This work addresses the challenge of extending planetary exploration beyond wheeled rovers by validating adaptive, optimal-control locomotion for quadruped robots in a realistic analog environment. It presents a field campaign on Vulcano, using a hierarchical control stack that combines a gait planner, model predictive control, and whole-body stabilization, implemented in ROS 2 and tested under varied volcanic terrain. The campaign achieved over 700 m of quadrupedal traversal, demonstrating feasibility and providing insights into robustness, field deployment, and the sim-to-field gap. The findings suggest that legged mobility can complement rovers and aerial systems in future lunar and Martian missions, with significant implications for mission architectures and cross-disciplinary collaboration.

Abstract

Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future planetary missions by traversing more difficult terrain than wheeled rovers, such as jumping over cracks on the ground or traversing rugged terrain with boulders. To develop and test algorithms for using quadruped robots, the AAPLE project was carried out at DFKI. As part of the project, we conducted a series of field experiments on the Volcano on the Aeolian island of Vulcano, an active stratovolcano near Sicily, Italy. The experiments focused on validating newly developed state-of-the-art adaptive optimal control algorithms for quadrupedal locomotion in a high-fidelity analog environment for Lunar and Martian surfaces. This paper presents the technical approach, test plan, software architecture, field deployment strategy, and evaluation results from the Vulcano campaign.

Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano

TL;DR

This work addresses the challenge of extending planetary exploration beyond wheeled rovers by validating adaptive, optimal-control locomotion for quadruped robots in a realistic analog environment. It presents a field campaign on Vulcano, using a hierarchical control stack that combines a gait planner, model predictive control, and whole-body stabilization, implemented in ROS 2 and tested under varied volcanic terrain. The campaign achieved over 700 m of quadrupedal traversal, demonstrating feasibility and providing insights into robustness, field deployment, and the sim-to-field gap. The findings suggest that legged mobility can complement rovers and aerial systems in future lunar and Martian missions, with significant implications for mission architectures and cross-disciplinary collaboration.

Abstract

Missions such as the Ingenuity helicopter have shown the advantages of using novel locomotion modes to increase the scientific return of planetary exploration missions. Legged robots can further expand the reach and capability of future planetary missions by traversing more difficult terrain than wheeled rovers, such as jumping over cracks on the ground or traversing rugged terrain with boulders. To develop and test algorithms for using quadruped robots, the AAPLE project was carried out at DFKI. As part of the project, we conducted a series of field experiments on the Volcano on the Aeolian island of Vulcano, an active stratovolcano near Sicily, Italy. The experiments focused on validating newly developed state-of-the-art adaptive optimal control algorithms for quadrupedal locomotion in a high-fidelity analog environment for Lunar and Martian surfaces. This paper presents the technical approach, test plan, software architecture, field deployment strategy, and evaluation results from the Vulcano campaign.
Paper Structure (8 sections, 6 figures, 1 table)

This paper contains 8 sections, 6 figures, 1 table.

Table of Contents

  1. Introduction
  2. Logistics
  3. Travel and Permits
  4. Software and Network Management
  5. On Field Activities
  6. Adaptive Control Architecture
  7. Lessons Learnt
  8. Conclusion

Figures (6)

  • Figure 1: Two quadrupedal robots used during the field tests on Vulcano: Unitree Go2 (left) and Custom built B12 (right).
  • Figure 2: Software Stack used during the field tests on Vulcano.
  • Figure 3: Aerial/Satellite view of Vulcano island with the marked test sites. 1: Moon Crater/Lunar Lake, 2: Lower Rim, 3: Upper Rim.
  • Figure 4: Top left: Aerial View of Volcano and test sites. Other images show different regoliths, terrains, and volcanic features encountered during the tests.
  • Figure 5: Timeline of Activities during the field campaign on Vulcano.
  • ...and 1 more figures