Lower Gravity Demonstratable Testbed for Space Robot Experiments

TL;DR

This paper introduces a compact indoor testbed capable of simulating low gravity, uneven terrain, and slopes for testing space exploration robots in controlled conditions.

Contribution

It presents a novel, space-efficient testbed design that accurately reproduces planetary surface conditions for robot performance evaluation.

Findings

Successfully simulates low gravity environments

Reproduces steep slopes and uneven terrain

Enables repeatable space robot experiments

Abstract

In developing mobile robots for exploration on the planetary surface, it is crucial to evaluate the robot's performance, demonstrating the harsh environment in which the robot will actually be deployed. Repeatable experiments in a controlled testing environment that can reproduce various terrain and gravitational conditions are essential. This paper presents the development of a minimal and space-saving indoor testbed, which can simulate steep slopes, uneven terrain, and lower gravity, employing a three-dimensional target tracking mechanism (active xy and passive z) with a counterweight.