After several successful missions to explore the surface of Mars with wheel-based rovers, the exploration of difficult and steep terrain has gained prominence in the field of planetary exploration, calling for new methods of vehicle locomotion which offer stability in steep and difficult terrain. UTOPUS traction technology offers a new method of locomotion which abandons the wheel paradigm for a two-phased anchoring and de-anchoring technique by driving removable crampons into the ground. In agriculture it minimizes soil compaction, reduces energy consumption, and produces a draft force similar to much heavier wheel-based tractors.Here we investigate whether the inherent stability of locomotion based on removable crampons allows exploration of steep and difficult terrain. We present experimental results from climbing and descending a mound of heterogeneous dust, sand, and granular material at the critical angle of repose, at an inclination of 25–40 degrees. The UTOPUS vehicle repeatedly climbed and descended the mound safely. An initial problem when reaching the top of the mound was solved by rebalancing the vehicle. Occasional failure occurred when the vehicle had strong lateral inclination, or on patches of very loose ground, suggesting the need for some design changes to the current model.
UTOPUS Traction Technology: A new method for planetary exploration of steep and difficult terrain
