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This work introduces a novel approach for Titan exploration based on softmorphing aerial robots leveraging the use of flexible adaptive materials. Thecontrolled deformation of the multirotor arms, actuated by a combination of apneumatic system and a tendon mechanism, provides the explorer robot with theability to perform full-body perching and land on rocky, irregular, or uneventerrains, thus unlocking new exploration horizons. In addition, after landing,they can be used for efficient sampling as tendon-driven continuummanipulators, with the pneumatic system drawing in the samples. The proposedarms enable the drone to cover long distances in Titan's atmosphereefficiently, by directing rotor thrust without rotating the body, reducing theaerodynamic drag. Given that the exploration concept is envisioned as arotorcraft planetary lander, the robot's folding features enable over a 30$\%$reduction in the hypersonic aeroshell's diameter. Building on this foldingcapability, the arms can morph partially in flight to navigate tight spaces. Asfor propulsion, the rotor design, justified through CFD simulations, utilizes aducted fan configuration tailored for Titan's high Reynolds numbers. The rotorsare integrated within the robot's deformable materials, facilitating smoothinteractions with the environment. The research spotlights explorationsimulations in the Gazebo environment, focusing on the Sotra-Patera cryovolcanoregion, a location with potential to clarify Titan's unique methane cycle andits Earth-like features. This work addresses one of the primary challenges ofthe concept by testing the behavior of small-scale deformable arms underconditions mimicking those of Titan. Groundbreaking experiments with liquidnitrogen at cryogenic temperatures were conducted on various materials, withTeflon (PTFE) at low infill rates (15-30%) emerging as a promising option.

A novel concept for Titan robotic exploration based on soft morphing aerial robots