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The potential of Martian lava tubes for resource extraction and habitatsheltering highlights the need for robots capable to undertake the gruelingtask of their exploration. Driven by this motivation, in this work we introducea legged robot system optimized for jumping in the low gravity of Mars,designed with leg configurations adaptable to both bipedal and quadrupedalsystems. This design utilizes torque-controlled actuators coupled with springsfor high-power jumping, robust locomotion, and an energy-efficient restingpose. Key design features include a 5-bar mechanism as leg concept, combinedwith springs connected by a high-strength cord. The selected 5-bar link lengthsand spring stiffness were optimized for maximizing the jump height in Martiangravity and realized as a robot leg. Two such legs combined with a compact bodyallowed jump testing of a bipedal prototype. The robot is 0.472 m tall andweighs 7.9 kg. Jump testing with significant safety margins resulted in ameasured jump height of 1.141 m in Earth's gravity, while a total of 4 jumpingexperiments are presented. Simulations utilizing the full motor torque andkinematic limits of the design resulted in a maximum possible jump height of1.52 m in Earth's gravity and 3.63 m in Mars' gravity, highlighting theversatility of jumping as a form of locomotion and overcoming obstacles inlower gravity.

Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration