  Reducing the forces necessary to construct projects like landing pads and
blast walls is possibly one of the major drivers in reducing the costs of
establishing lunar settlements. The interlock drive system generates traction
by penetrating articulated spikes into the ground and by using the natural
strength of the ground for traction. The spikes develop a high pull to weight
ratio and promise good mobility in soft, rocky and steep terrain,
energy-efficient operation, and their design is relatively simple. By
penetrating the ground at regular intervals, the spikes also enable the in-situ
measurement of a variety of ground properties, including penetration
resistance, temperature, and pH. Here we present a concept for a light lunar
bulldozer with interlocking spikes that uses a blade and a ripper to loosen and
move soil over short distances, that maps ground properties in situ and that
uses this information to construct landing pads and blast walls, and to
otherwise interact with the ground in a targeted and efficient manner. Trials
on Mediterranean soil have shown that this concept promises to satisfy many of
the basic requirements expected of a lunar excavator. To better predict
performance in a lunar or Martian environment, experiments on relevant soil
simulants are needed.

Robotics